diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index 916f8151e9e..38ae6a835a2 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -40,6 +40,9 @@
 
 using namespace matrix;
 
+// First meter after lift-off prioritises altitude over horizontal tracking.
+static constexpr float kTakeoffClimbPriorityHeight = 1.0f; // [m]
+
 bool FlightTaskAuto::activate(const trajectory_setpoint_s &last_setpoint)
 {
 	bool ret = FlightTask::activate(last_setpoint);
@@ -75,6 +78,7 @@ bool FlightTaskAuto::activate(const trajectory_setpoint_s &last_setpoint)
 	_is_emergency_braking_active = false;
 	_time_last_cruise_speed_override = 0;
 	_takeoff_locked_xy.setNaN();
+	_takeoff_liftoff_z = NAN;
 
 	return ret;
 }
@@ -86,6 +90,7 @@ void FlightTaskAuto::reActivate()
 	// On ground, reset acceleration and velocity to zero
 	_position_smoothing.reset({0.f, 0.f, 0.f}, {0.f, 0.f, 0.7f}, _position);
 	_takeoff_locked_xy.setNaN();
+	_takeoff_liftoff_z = NAN;
 }
 
 bool FlightTaskAuto::updateInitialize()
@@ -160,11 +165,8 @@ bool FlightTaskAuto::update()
 		_position_setpoint = _triplet_current;
 		_velocity_setpoint.setNaN();
 
-		// During takeoff, lock the lift-off XY so the climb stays vertical and wind-robust:
-		// track the live position through the ramp (freezes at FLIGHT as the deck moves), then
-		// hold it as the target until takeoff completes. Z stays at the takeoff target altitude.
 		if (_type == WaypointType::takeoff) {
-			if (_inTakeoffRamp()) {
+			if (_takeoff_status_sub.get().takeoff_state < takeoff_status_s::TAKEOFF_STATE_FLIGHT) {
 				_takeoff_locked_xy = Vector2f(_position);
 			}
 
@@ -190,9 +192,16 @@ bool FlightTaskAuto::update()
 	const bool force_zero_velocity_setpoint = should_wait_for_yaw_align || _is_emergency_braking_active;
 	_updateTrajConstraints();
 
-	if (_inTakeoffRamp()) {
-		// Hold the live horizontal position during the takeoff ramp so the climb isn't slowed and tracks a moving deck
-		_position_smoothing.forceSetPosition({_position(0), _position(1), NAN});
+	if (_type == WaypointType::takeoff) {
+		if (_takeoff_status_sub.get().takeoff_state < takeoff_status_s::TAKEOFF_STATE_FLIGHT) {
+			_takeoff_liftoff_z = _position(2);
+			_position_smoothing.forceSetPosition({_position(0), _position(1), NAN});
+		}
+
+		if (!PX4_ISFINITE(_takeoff_liftoff_z)
+		    || (_takeoff_liftoff_z - _position(2)) < kTakeoffClimbPriorityHeight) {
+			_position_smoothing.forceSetVelocity({_velocity(0), _velocity(1), NAN});
+		}
 	}
 
 	PositionSmoothing::PositionSmoothingSetpoints smoothed_setpoints;
@@ -730,12 +739,6 @@ bool FlightTaskAuto::isTargetModified() const
 	return xy_modified || z_modified;
 }
 
-bool FlightTaskAuto::_inTakeoffRamp() const
-{
-	return (_type == WaypointType::takeoff)
-	       && (_takeoff_status_sub.get().takeoff_state < takeoff_status_s::TAKEOFF_STATE_FLIGHT);
-}
-
 void FlightTaskAuto::_updateTrajConstraints()
 {
 	// update params of the position smoothing
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
index 2c2bf8e6785..15190b9dd9a 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
@@ -107,7 +107,6 @@ protected:
 	bool _generateHeadingAlongTraj(); /**< Generates heading along trajectory. */
 	bool isTargetModified() const;
 	void _updateTrajConstraints();
-	bool _inTakeoffRamp() const; /**< taking off and not yet at TAKEOFF_STATE_FLIGHT */
 
 	void rcHelpModifyYaw(float &yaw_sp);
 
@@ -183,6 +182,7 @@ protected:
 private:
 	matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
 	matrix::Vector2f _takeoff_locked_xy{NAN, NAN}; /**< lift-off XY tracked during the takeoff ramp and frozen at FLIGHT to keep the climb vertical */
+	float _takeoff_liftoff_z{NAN}; /**< lift-off altitude (NED z), frozen at FLIGHT */
 	bool _yaw_lock{false}; /**< if within acceptance radius, lock yaw to current yaw */
 
 	matrix::Vector3f _triplet_previous; ///< previous waypoint in triplet from navigator