diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index 55e361ab06..ceeba50453 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -365,6 +365,11 @@ void MulticopterPositionControl::Run()
 			const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight);
 			const bool flying_but_ground_contact = (flying && _vehicle_land_detected.ground_contact);
 
+			// make sure takeoff ramp is not amended by acceleration feed-forward
+			if (!flying) {
+				_setpoint.acceleration[2] = NAN;
+			}
+
 			if (not_taken_off || flying_but_ground_contact) {
 				// we are not flying yet and need to avoid any corrections
 				reset_setpoint_to_nan(_setpoint);