diff --git a/src/modules/angular_velocity_controller/AngularVelocityController.cpp b/src/modules/angular_velocity_controller/AngularVelocityController.cpp
index 45bd171855..0c06de2c90 100644
--- a/src/modules/angular_velocity_controller/AngularVelocityController.cpp
+++ b/src/modules/angular_velocity_controller/AngularVelocityController.cpp
@@ -96,7 +96,8 @@ AngularVelocityController::parameters_updated()
 	_control.setInertiaMatrix(matrix::Matrix3f(inertia));
 
 	// Hover thrust
-	if (!_param_mpc_use_hte.get()) {
+	if (!_param_mpc_use_hte.get()
+	    || !_vehicle_control_mode.flag_armed) {
 		_hover_thrust = _param_mpc_thr_hover.get();
 	}
 }
@@ -149,11 +150,16 @@ AngularVelocityController::Run()
 		}
 
 		// Check for updates of hover thrust
-		if (_param_mpc_use_hte.get()) {
+		if (!_vehicle_control_mode.flag_armed) {
+			_hover_thrust = _param_mpc_thr_hover.get();
+
+		} else if (_param_mpc_use_hte.get()) {
 			hover_thrust_estimate_s hte;
 
 			if (_hover_thrust_estimate_sub.update(&hte)) {
-				_hover_thrust = hte.hover_thrust;
+				if (hte.valid) {
+					_hover_thrust = hte.hover_thrust;
+				}
 			}
 		}
 
diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index c06b868dae..26df37d49d 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -394,6 +394,8 @@ void MulticopterPositionControl::Run()
 				// make sure takeoff ramp is not amended by acceleration feed-forward
 				if (!flying) {
 					_setpoint.acceleration[2] = NAN;
+					// hover_thrust maybe reset on takeoff
+					_control.setHoverThrust(_param_mpc_thr_hover.get());
 				}
 
 				const bool not_taken_off             = (_takeoff.getTakeoffState() < TakeoffState::rampup);