diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
index dabbac620d..64f1aec554 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
@@ -57,15 +57,14 @@ protected:
 	void _ekfResetHandlerPositionZ(float delta_z) override;
 	void _ekfResetHandlerVelocityZ(float delta_vz) override;
 
+	void _updateTrajConstraints();
+	void _setOutputState();
+
+	ManualVelocitySmoothingZ _smoothing; ///< Smoothing in z direction
+
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
 					(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
 					(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
 					(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max
 				       )
-
-private:
-	void _updateTrajConstraints();
-	void _setOutputState();
-
-	ManualVelocitySmoothingZ _smoothing; ///< Smoothing in z direction
 };
diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
index 7612923c55..0adc4f6eae 100644
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
@@ -188,9 +188,7 @@ bool FlightTaskOrbit::activate(const vehicle_local_position_setpoint_s &last_set
 
 bool FlightTaskOrbit::update()
 {
-	// update altitude
-	bool ret = FlightTaskManualAltitude::update();
-
+	bool ret = true;
 	_updateTrajectoryBoundaries();
 
 	// stick input adjusts parameters within a fixed time frame
@@ -203,7 +201,10 @@ bool FlightTaskOrbit::update()
 	if (_is_position_on_circle()) {
 		if (_in_circle_approach) {
 			_in_circle_approach = false;
-			_altitude_velocity_smoothing.reset(0, _velocity(2), _position(2));
+			FlightTaskManualAltitudeSmoothVel::_smoothing.reset(
+				PX4_ISFINITE(_acceleration_setpoint(2)) ? _acceleration_setpoint(2) : 0.f,
+				PX4_ISFINITE(_velocity_setpoint(2)) ? _velocity_setpoint(2) : _velocity(2),
+				PX4_ISFINITE(_position_setpoint(2)) ? _position_setpoint(2) : _position(2));
 		}
 	}
 
@@ -211,20 +212,12 @@ bool FlightTaskOrbit::update()
 		_generate_circle_approach_setpoints();
 
 	} else {
+		// update altitude
+		ret = ret && FlightTaskManualAltitudeSmoothVel::update();
+
 		// this generates x / y setpoints
 		_generate_circle_setpoints();
 		_generate_circle_yaw_setpoints();
-
-		// in case we have a velocity setpoint in altititude (from altitude parent)
-		// smooth this
-		if (!PX4_ISFINITE(_position_setpoint(2))) {
-			_altitude_velocity_smoothing.updateDurations(_velocity_setpoint(2));
-			_altitude_velocity_smoothing.updateTraj(_deltatime);
-			_velocity_setpoint(2) = _altitude_velocity_smoothing.getCurrentVelocity();
-			_acceleration_setpoint(2) = _altitude_velocity_smoothing.getCurrentAcceleration();
-			// set orbit altitude center to expected new altitude
-			_center(2) = _altitude_velocity_smoothing.getCurrentPosition();
-		}
 	}
 
 	// Apply yaw smoothing
@@ -250,21 +243,14 @@ void FlightTaskOrbit::_updateTrajectoryBoundaries()
 	_position_smoothing.setMaxVelocityXY(_param_mpc_xy_vel_max.get());
 	float max_jerk = _param_mpc_jerk_auto.get();
 	_position_smoothing.setMaxJerk({max_jerk, max_jerk, max_jerk}); // TODO : Should be computed using heading
-	_altitude_velocity_smoothing.setMaxJerk(max_jerk);
-
-		const float z_accel_constraint = _param_mpc_acc_up_max.get();
 
 	if (_velocity_setpoint(2) < 0.f) { // up
 		_position_smoothing.setMaxVelocityZ(_param_mpc_z_v_auto_up.get());
-		_position_smoothing.setMaxAccelerationZ(z_accel_constraint);
-		_altitude_velocity_smoothing.setMaxVel(_param_mpc_z_vel_max_up.get());
-		_altitude_velocity_smoothing.setMaxAccel(z_accel_constraint);
+		_position_smoothing.setMaxAccelerationZ(_param_mpc_acc_up_max.get());
 
 	} else { // down
 		_position_smoothing.setMaxAccelerationZ(_param_mpc_acc_down_max.get());
 		_position_smoothing.setMaxVelocityZ(_param_mpc_z_v_auto_dn.get());
-		_altitude_velocity_smoothing.setMaxAccel(_param_mpc_acc_down_max.get());
-		_altitude_velocity_smoothing.setMaxVel(_param_mpc_z_vel_max_dn.get());
 	}
 
 }
diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
index 5da387c5be..9ebd760dde 100644
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp
@@ -49,7 +49,7 @@
 #include <lib/motion_planning/VelocitySmoothing.hpp>
 
 
-class FlightTaskOrbit : public FlightTaskManualAltitude
+class FlightTaskOrbit : public FlightTaskManualAltitudeSmoothVel
 {
 public:
 
@@ -119,7 +119,6 @@ private:
 
 	bool _in_circle_approach = false;
 	PositionSmoothing _position_smoothing;
-	VelocitySmoothing _altitude_velocity_smoothing;
 
 	/** yaw behaviour during the orbit flight according to MAVLink's ORBIT_YAW_BEHAVIOUR enum */
 	int _yaw_behaviour = orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER;