diff --git a/include/control_toolbox/pid.hpp b/include/control_toolbox/pid.hpp
index 3f431f71..38c8a7aa 100644
--- a/include/control_toolbox/pid.hpp
+++ b/include/control_toolbox/pid.hpp
@@ -208,6 +208,7 @@ class Pid
 
   /*!
    * \brief Reset the state of this PID controller
+   * @note The integral term is not retained and it is reset to zero
    */
   void reset();
 
diff --git a/include/control_toolbox/pid_ros.hpp b/include/control_toolbox/pid_ros.hpp
index 120d6452..5f82b029 100644
--- a/include/control_toolbox/pid_ros.hpp
+++ b/include/control_toolbox/pid_ros.hpp
@@ -125,6 +125,7 @@ class PidROS
 
   /*!
    * \brief Reset the state of this PID controller
+   * @note The integral term is not retained and it is reset to zero
    */
   void reset();
 
@@ -133,7 +134,7 @@ class PidROS
    *
    * \param save_iterm boolean indicating if integral term is retained on reset()
    */
-  void reset(bool save_iterm = false);
+  void reset(bool save_iterm);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform time
diff --git a/src/pid.cpp b/src/pid.cpp
index 8d0e0a1d..2a0ed340 100644
--- a/src/pid.cpp
+++ b/src/pid.cpp
@@ -93,12 +93,6 @@ void Pid::reset(bool save_iterm)
   d_error_ = 0.0;
   cmd_ = 0.0;
 
-  // If last integral error is already zero, just return
-  if (std::abs(i_error_) < std::numeric_limits<double>::epsilon())
-  {
-    return;
-  }
-
   // Check to see if we should reset integral error here
   if (!save_iterm) clear_saved_iterm();
 }