diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
index ed7676296f..2f27fd1aed 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
@@ -134,7 +134,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
 			}
 
 		} else {
-			bool not_moving = spd_xy < 0.5f * _param_mpc_hold_max_xy.get();
+			bool not_moving = spd_xy < 0.5f * _param_mpc_hold_max_xy.get() && stopped;
 
 			if (!stick_input && not_moving && PX4_ISFINITE(_dist_to_bottom)) {
 				// Start using distance to ground