diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 4f09ddb8c7..10da262e3a 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1828,7 +1828,8 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
 		thrust_sp = _R * thrust_sp_body;
 	}
 
-	if (_vehicle_land_detected.maybe_landed) {
+	if (_vehicle_land_detected.maybe_landed
+	    && !(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
 		/* we set thrust to zero
 		 * this will help to decide if we are actually landed or not
 		 */