diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index c3a40737da..7d173f3cbb 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -331,7 +331,28 @@ void MulticopterPositionControl::Run()
 			}
 
 			if (_control_mode.flag_control_offboard_enabled) {
-				_vehicle_constraints.want_takeoff = _control_mode.flag_armed && hrt_elapsed_time(&_setpoint.timestamp) < 1_s;
+
+				bool want_takeoff = _control_mode.flag_armed && _vehicle_land_detected.landed
+						    && hrt_elapsed_time(&_setpoint.timestamp) < 1_s;
+
+				if (want_takeoff && PX4_ISFINITE(_setpoint.z)
+				    && (_setpoint.z < states.position(2))) {
+
+					_vehicle_constraints.want_takeoff = true;
+
+				} else if (want_takeoff && PX4_ISFINITE(_setpoint.vz)
+					   && (_setpoint.vz < 0.f)) {
+
+					_vehicle_constraints.want_takeoff = true;
+
+				} else if (want_takeoff && PX4_ISFINITE(_setpoint.acceleration[2])
+					   && (_setpoint.acceleration[2] < 0.f)) {
+
+					_vehicle_constraints.want_takeoff = true;
+
+				} else {
+					_vehicle_constraints.want_takeoff = false;
+				}
 
 				// override with defaults
 				_vehicle_constraints.speed_xy = _param_mpc_xy_vel_max.get();