diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index 039bef28fd0..9f7722541f8 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -480,7 +480,7 @@ void MulticopterPositionControl::Run()
 			}
 
 			// make sure takeoff ramp is not amended by acceleration feed-forward
-			if (_takeoff.getTakeoffState() == TakeoffState::rampup) {
+			if (_takeoff.getTakeoffState() == TakeoffState::rampup && PX4_ISFINITE(_setpoint.velocity[2])) {
 				_setpoint.acceleration[2] = NAN;
 			}