diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp
index 71c7f5f07e..59e75cda92 100644
--- a/src/lib/tecs/TECS.cpp
+++ b/src/lib/tecs/TECS.cpp
@@ -805,8 +805,7 @@ void TECS::_setFastDescend(const float alt_setpoint, const float alt)
 					      static_cast<float>(FAST_DESCEND_RAMP_UP_TIME)), 0.f, 1.f);
 
 	} else if (PX4_ISFINITE(alt_setpoint) && (_fast_descend > FLT_EPSILON) && (_fast_descend_alt_err > FLT_EPSILON)) {
-		// Were in fast descend, scale it down. up until 5m above target altitude
-		_fast_descend = constrain((alt - alt_setpoint - 5.f) / _fast_descend_alt_err, 0.f, 1.f);
+		_fast_descend = constrain((alt - alt_setpoint - FAST_DESCEND_RAMP_DOWN_MARGIN) / _fast_descend_alt_err, 0.f, 1.f);
 		_enabled_fast_descend_timestamp = 0U;
 
 	} else {
diff --git a/src/lib/tecs/TECS.hpp b/src/lib/tecs/TECS.hpp
index a19c4723ca..4e0e6aa752 100644
--- a/src/lib/tecs/TECS.hpp
+++ b/src/lib/tecs/TECS.hpp
@@ -704,6 +704,7 @@ private:
 	static constexpr float DT_MIN = 0.001f;				///< minimum allowed value of _dt (sec)
 	static constexpr float DT_MAX = 1.0f;				///< max value of _dt allowed before a filter state reset is performed (sec)
 	static constexpr hrt_abstime FAST_DESCEND_RAMP_UP_TIME = 2_s; 	///< Ramp up time until fast descend is fully engaged
+	static constexpr float FAST_DESCEND_RAMP_DOWN_MARGIN = 5.f;	///< Altitude above setpoint [m] at which fast-descend ramp-out reaches zero
 
 	DebugOutput _debug_status{};