2003 Ford F150 Code P1131 and P1151

while stopped and idling for a period of 2 minute or more the truck begins to run rough and the check engine light comes on. once i accelerate, the truck runs fine until stopped for another 2 minutes or so. the check engine light will clear once the battery is disconnected, but will return once idling for a period. Took the truck to get the codes read and p1131 and p1151 are the two codes that came up.