diff --git a/src/lib/rate_control/rate_control.hpp b/src/lib/rate_control/rate_control.hpp
index 1db18ee092..b2469bc77b 100644
--- a/src/lib/rate_control/rate_control.hpp
+++ b/src/lib/rate_control/rate_control.hpp
@@ -94,6 +94,18 @@ public:
 	 */
 	void resetIntegral() { _rate_int.zero(); }
 
+	/**
+	 * Set the integral term to 0 to prevent windup for each axis
+	 * @param  axis axis: roll 0 / pitch 1 / yaw 2
+	 * @see _rate_int
+	 */
+	void resetIntegral(size_t axis)
+	{
+		if (axis < 3) {
+			_rate_int(axis) = 0.0f;
+		}
+	}
+
 	/**
 	 * Get status message of controller for logging/debugging
 	 * @param rate_ctrl_status status message to fill with internal states
diff --git a/src/modules/fw_rate_control/FixedwingRateControl.cpp b/src/modules/fw_rate_control/FixedwingRateControl.cpp
index 970d3c77e7..9ff446b1f3 100644
--- a/src/modules/fw_rate_control/FixedwingRateControl.cpp
+++ b/src/modules/fw_rate_control/FixedwingRateControl.cpp
@@ -118,6 +118,10 @@ FixedwingRateControl::vehicle_manual_poll()
 
 				_rate_sp_pub.publish(_rates_sp);
 
+				if (_param_fw_acro_yaw_int_reset.get()) {
+					_rate_control.resetIntegral(2);
+				}
+
 			} else {
 				/* manual/direct control */
 
diff --git a/src/modules/fw_rate_control/FixedwingRateControl.hpp b/src/modules/fw_rate_control/FixedwingRateControl.hpp
index d24edd0d84..48576ae6b0 100644
--- a/src/modules/fw_rate_control/FixedwingRateControl.hpp
+++ b/src/modules/fw_rate_control/FixedwingRateControl.hpp
@@ -152,6 +152,7 @@ private:
 		(ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max,
 		(ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max,
 		(ParamFloat<px4::params::FW_ACRO_Z_MAX>) _param_fw_acro_z_max,
+		(ParamInt<px4::params::FW_ACRO_Z_IRESET>) _param_fw_acro_yaw_int_reset,
 
 		(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
 		(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
diff --git a/src/modules/fw_rate_control/fw_rate_control_params.c b/src/modules/fw_rate_control/fw_rate_control_params.c
index 10d8172bdf..58f53a328e 100644
--- a/src/modules/fw_rate_control/fw_rate_control_params.c
+++ b/src/modules/fw_rate_control/fw_rate_control_params.c
@@ -365,6 +365,16 @@ PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
  */
 PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);
 
+/**
+ * Reset for integral of the z axis while rate controller in acro mode.
+ *
+ * This configures the integral of each axis of the rate controller in acro mode
+ *
+ * @boolean
+ * @group FW Rate Control
+ */
+PARAM_DEFINE_INT32(FW_ACRO_Z_IRESET, 1);
+
 /**
  * Enable throttle scale by battery level
  *