diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
index 973471ea4e..ed855c74aa 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
@@ -72,7 +72,7 @@ void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw,
 	Vector2f acceleration_scale(_param_mpc_acc_hor.get(), _param_mpc_acc_hor.get());
 	Vector2f velocity_scale(_param_mpc_vel_manual.get(), _param_mpc_vel_manual.get());
 
-	acceleration_scale *= 2.f; // because of drag the average aceleration is half
+	acceleration_scale *= 2.f; // because of drag the average acceleration is half
 
 	// Map stick input to acceleration
 	Sticks::limitStickUnitLengthXY(stick_xy);
@@ -144,9 +144,13 @@ Vector2f StickAccelerationXY::calculateDrag(Vector2f drag_coefficient, const flo
 
 void StickAccelerationXY::applyTiltLimit(Vector2f &acceleration)
 {
+	// fetch the tilt limit which is lower than the maximum during takeoff
+	takeoff_status_s takeoff_status{};
+	_takeoff_status_sub.copy(&takeoff_status);
+
 	// Check if acceleration would exceed the tilt limit
 	const float acc = acceleration.length();
-	const float acc_tilt_max = tanf(M_DEG_TO_RAD_F * _param_mpc_tiltmax_air.get()) * CONSTANTS_ONE_G;
+	const float acc_tilt_max = tanf(takeoff_status.tilt_limit) * CONSTANTS_ONE_G;
 
 	if (acc > acc_tilt_max) {
 		acceleration *= acc_tilt_max / acc;
diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp
index a9eda763c0..5f011acd9b 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp
@@ -40,9 +40,10 @@
 #pragma once
 
 #include <px4_platform_common/module_params.h>
-#include <float.h> // TODO add this include to AlphaFilter since it's used there
 #include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
 #include <matrix/math.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/takeoff_status.h>
 
 #include "SlewRate.hpp"
 
@@ -66,6 +67,8 @@ private:
 	void applyTiltLimit(matrix::Vector2f &acceleration);
 	void lockPosition(const matrix::Vector3f &pos, const matrix::Vector2f &vel_sp_feedback, const float dt);
 
+	uORB::Subscription _takeoff_status_sub{ORB_ID(takeoff_status)};
+
 	SlewRate<float> _acceleration_slew_rate_x;
 	SlewRate<float> _acceleration_slew_rate_y;
 	AlphaFilter<float> _brake_boost_filter;