diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index d990f14200..43db19e69d 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -455,13 +455,15 @@ void MulticopterPositionControl::Run()
 			const bool flying                    = (_takeoff.getTakeoffState() >= TakeoffState::flight);
 			const bool flying_but_ground_contact = (flying && _vehicle_land_detected.ground_contact);
 
-			// make sure takeoff ramp is not amended by acceleration feed-forward
 			if (!flying) {
-				_setpoint.acceleration[2] = NAN;
-				// hover_thrust maybe reset on takeoff
 				_control.setHoverThrust(_param_mpc_thr_hover.get());
 			}
 
+			// make sure takeoff ramp is not amended by acceleration feed-forward
+			if (_takeoff.getTakeoffState() == TakeoffState::rampup) {
+				_setpoint.acceleration[2] = NAN;
+			}
+
 			if (not_taken_off || flying_but_ground_contact) {
 				// we are not flying yet and need to avoid any corrections
 				reset_setpoint_to_nan(_setpoint);