diff --git a/ArduCopter/mode_acro_heli.cpp b/ArduCopter/mode_acro_heli.cpp
index 2af836a45542fc..7a258bd25cb69e 100644
--- a/ArduCopter/mode_acro_heli.cpp
+++ b/ArduCopter/mode_acro_heli.cpp
@@ -60,7 +60,9 @@ void ModeAcro_Heli::run()
     case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
     case AP_Motors::SpoolState::SPOOLING_DOWN:
         if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
-            attitude_control->reset_target_and_rate(false);
+            if (!motors->using_hdg_error_correction()) {
+                attitude_control->reset_yaw_target_and_rate(false);
+            }
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
diff --git a/ArduCopter/mode_althold.cpp b/ArduCopter/mode_althold.cpp
index 45433afbe2d219..825f641e0eba16 100644
--- a/ArduCopter/mode_althold.cpp
+++ b/ArduCopter/mode_althold.cpp
@@ -55,6 +55,9 @@ void ModeAltHold::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:
diff --git a/ArduCopter/mode_drift.cpp b/ArduCopter/mode_drift.cpp
index 3cf53551f86ca3..f735cf6786185f 100644
--- a/ArduCopter/mode_drift.cpp
+++ b/ArduCopter/mode_drift.cpp
@@ -116,7 +116,9 @@ void ModeDrift::run()
             }
         } else {
             if (copter.ap.land_complete && !motors->using_leaky_integrator()) {
-                attitude_control->reset_target_and_rate(false);
+                if (!motors->using_hdg_error_correction()) {
+                    attitude_control->reset_yaw_target_and_rate(false);
+                }
                 attitude_control->reset_rate_controller_I_terms_smoothly();
             }
         }
diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp
index f03e1b2191ad06..729672dc294e26 100644
--- a/ArduCopter/mode_flowhold.cpp
+++ b/ArduCopter/mode_flowhold.cpp
@@ -288,6 +288,9 @@ void ModeFlowHold::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:
diff --git a/ArduCopter/mode_loiter.cpp b/ArduCopter/mode_loiter.cpp
index f0d5b23af6760d..1691fe23272e51 100644
--- a/ArduCopter/mode_loiter.cpp
+++ b/ArduCopter/mode_loiter.cpp
@@ -132,6 +132,9 @@ void ModeLoiter::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:
diff --git a/ArduCopter/mode_poshold.cpp b/ArduCopter/mode_poshold.cpp
index a05c068f30f8b1..c1700c38d65e83 100644
--- a/ArduCopter/mode_poshold.cpp
+++ b/ArduCopter/mode_poshold.cpp
@@ -116,6 +116,9 @@ void ModePosHold::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         init_wind_comp_estimate();
         FALLTHROUGH;
 
diff --git a/ArduCopter/mode_sport.cpp b/ArduCopter/mode_sport.cpp
index 49f4cc3b440990..05203aff1c06ea 100644
--- a/ArduCopter/mode_sport.cpp
+++ b/ArduCopter/mode_sport.cpp
@@ -81,6 +81,9 @@ void ModeSport::run()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff:
diff --git a/ArduCopter/mode_stabilize_heli.cpp b/ArduCopter/mode_stabilize_heli.cpp
index 20dccc5b964b30..260d2f519346b1 100644
--- a/ArduCopter/mode_stabilize_heli.cpp
+++ b/ArduCopter/mode_stabilize_heli.cpp
@@ -59,7 +59,9 @@ void ModeStabilize_Heli::run()
         // If aircraft is landed, set target heading to current and reset the integrator
         // Otherwise motors could be at ground idle for practice autorotation
         if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
-            attitude_control->reset_yaw_target_and_rate(false);
+            if (!motors->using_hdg_error_correction()) {
+                attitude_control->reset_yaw_target_and_rate(false);
+            }
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;
diff --git a/ArduCopter/mode_zigzag.cpp b/ArduCopter/mode_zigzag.cpp
index f6f57304ab1f3d..bed0093e4b26f9 100644
--- a/ArduCopter/mode_zigzag.cpp
+++ b/ArduCopter/mode_zigzag.cpp
@@ -356,6 +356,9 @@ void ModeZigZag::manual_control()
         break;
 
     case AltHoldModeState::Landed_Ground_Idle:
+        if (motors->using_hdg_error_correction()) {
+            attitude_control->reset_yaw_target_and_rate(false);
+        }
         FALLTHROUGH;
 
     case AltHoldModeState::Landed_Pre_Takeoff: