diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
index 2f27fd1aed..1d049b344a 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
@@ -91,8 +91,8 @@ void FlightTaskManualAltitude::_scaleSticks()
 	// Use sticks input with deadzone and exponential curve for vertical velocity
 	const float vel_max_up = fminf(_param_mpc_z_vel_max_up.get(), _velocity_constraint_up);
 	const float vel_max_down = fminf(_param_mpc_z_vel_max_dn.get(), _velocity_constraint_down);
-	const float vel_max_z = (_sticks.getPosition()(2) > 0.0f) ? vel_max_down : vel_max_up;
-	_velocity_setpoint(2) = vel_max_z * _sticks.getPositionExpo()(2);
+	const float vel_max_z = (_sticks.getThrottleZeroCentered() < 0.f) ? vel_max_down : vel_max_up;
+	_velocity_setpoint(2) = vel_max_z * -_sticks.getThrottleZeroCenteredExpo();
 }
 
 void FlightTaskManualAltitude::_updateAltitudeLock()
@@ -101,7 +101,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
 	// If not locked, altitude setpoint is set to NAN.
 
 	// Check if user wants to break
-	const bool apply_brake = fabsf(_sticks.getPositionExpo()(2)) <= FLT_EPSILON;
+	const bool apply_brake = fabsf(_sticks.getThrottleZeroCenteredExpo()) <= FLT_EPSILON;
 
 	// Check if vehicle has stopped
 	const bool stopped = (_param_mpc_hold_max_z.get() < FLT_EPSILON || fabsf(_velocity(2)) < _param_mpc_hold_max_z.get());
@@ -284,7 +284,7 @@ void FlightTaskManualAltitude::_updateSetpoints()
 bool FlightTaskManualAltitude::_checkTakeoff()
 {
 	// stick is deflected above 65% throttle (throttle stick is in the range [-1,1])
-	return _sticks.getPosition()(2) < -0.3f;
+	return _sticks.getThrottleZeroCentered() > 0.3f;
 }
 
 bool FlightTaskManualAltitude::update()
diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
index c8a79a7b0c..d8b68b0db3 100644
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
@@ -292,8 +292,8 @@ void FlightTaskOrbit::_adjustParametersByStick()
 
 	switch (_yaw_behaviour) {
 	case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE:
-		radius -= signFromBool(_started_clockwise) * _sticks.getPositionExpo()(1) * _deltatime * _param_mpc_xy_cruise.get();
-		velocity += signFromBool(_started_clockwise) * _sticks.getPositionExpo()(0) * _deltatime * _param_mpc_acc_hor.get();
+		radius -= signFromBool(_started_clockwise) * _sticks.getRollExpo() * _deltatime * _param_mpc_xy_cruise.get();
+		velocity += signFromBool(_started_clockwise) * _sticks.getPitchExpo() * _deltatime * _param_mpc_acc_hor.get();
 		break;
 
 	case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING:
@@ -302,8 +302,8 @@ void FlightTaskOrbit::_adjustParametersByStick()
 	case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER:
 	default:
 		// stick input adjusts parameters within a fixed time frame
-		radius -= _sticks.getPositionExpo()(0) * _deltatime * _param_mpc_xy_cruise.get();
-		velocity -= _sticks.getPositionExpo()(1) * _deltatime * _param_mpc_acc_hor.get();
+		radius -= _sticks.getPitchExpo() * _deltatime * _param_mpc_xy_cruise.get();
+		velocity -= _sticks.getRollExpo() * _deltatime * _param_mpc_acc_hor.get();
 		break;
 	}