diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index 647554002a..7786d21bc0 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -589,6 +589,10 @@ void MulticopterPositionControl::start_flight_task()
 		FlightTaskError error = FlightTaskError::NoError;
 
 		switch (_param_mpc_pos_mode.get()) {
+		case 0:
+			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualPosition);
+			break;
+
 		case 1:
 			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmooth);
 			break;
@@ -598,11 +602,8 @@ void MulticopterPositionControl::start_flight_task()
 			break;
 
 		case 4:
-			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualAcceleration);
-			break;
-
 		default:
-			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualPosition);
+			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualAcceleration);
 			break;
 		}
 
@@ -626,16 +627,17 @@ void MulticopterPositionControl::start_flight_task()
 		FlightTaskError error = FlightTaskError::NoError;
 
 		switch (_param_mpc_pos_mode.get()) {
+		case 0:
+			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
+			break;
+
 		case 1:
 			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmooth);
 			break;
 
 		case 3:
-			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmoothVel);
-			break;
-
 		default:
-			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
+			error =  _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmoothVel);
 			break;
 		}