diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
index 6b79aa1833d..788b7cf9895 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
@@ -106,7 +106,7 @@ bool FlightTaskManualAcceleration::update()
 
 void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy)
 {
-	_stick_acceleration_xy.resetPosition();
+	_stick_acceleration_xy.addToPositionSetpoint(delta_xy);
 }
 
 void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy)
diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
index c36d024ead1..052378244bf 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
@@ -55,6 +55,11 @@ void StickAccelerationXY::resetPosition(const matrix::Vector2f &position)
 	_position_setpoint = position;
 }
 
+void StickAccelerationXY::addToPositionSetpoint(const matrix::Vector2f &delta)
+{
+	_position_setpoint += delta;
+}
+
 void StickAccelerationXY::resetVelocity(const matrix::Vector2f &velocity)
 {
 	if (velocity.isAllFinite()) {
diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp
index 1b29580c4f2..ad6f4afec1f 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.hpp
@@ -56,6 +56,7 @@ public:
 
 	void resetPosition();
 	void resetPosition(const matrix::Vector2f &position);
+	void addToPositionSetpoint(const matrix::Vector2f &delta);
 	void resetVelocity(const matrix::Vector2f &velocity);
 	void resetAcceleration(const matrix::Vector2f &acceleration);
 	void generateSetpoints(matrix::Vector2f stick_xy, const float yaw, const float yaw_sp, const matrix::Vector3f &pos,