diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index a3db3e68c6..b6f9a23c5e 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -2537,7 +2537,6 @@ MulticopterPositionControl::task_main()
 			_mode_auto = false;
 			_reset_int_z = true;
 			_reset_int_xy = true;
-			_limit_vel_xy = false;
 
 			/* store last velocity in case a mode switch to position control occurs */
 			_vel_sp_prev = _vel;
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index adeea69b6a..3c8ebca733 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -262,6 +262,8 @@ PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 0.5f);
 
 /**
  * Maximum horizontal velocity setpoint for manual controlled mode
+ * If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
+ * the setpoint will be capped to MPC_XY_VEL_MAX
  *
  * @unit m/s
  * @min 3.0
@@ -291,8 +293,8 @@ PARAM_DEFINE_FLOAT(MPC_TARGET_THRE, 15.0f);
 /**
  * Maximum horizontal velocity
  *
- * Maximum horizontal velocity in AUTO mode. If higher speeds
- * are commanded in a mission they will be capped to this velocity.
+ * Maximum horizontal velocity. If higher speeds
+ * are commanded they will be capped to this velocity.
  *
  * @unit m/s
  * @min 0.0
@@ -301,7 +303,7 @@ PARAM_DEFINE_FLOAT(MPC_TARGET_THRE, 15.0f);
  * @decimal 2
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 8.0f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
 
 /**
  * Maximum tilt angle in air