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 c77a02aeb3..ca222093bc 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -161,7 +161,8 @@ private:
 	static constexpr int NUM_FAILURE_TRIES = 10;
 	/**< If Flighttask fails, keep 0.2 seconds the current setpoint before going into failsafe land */
 	static constexpr uint64_t LOITER_TIME_BEFORE_DESCEND = 200000;
-
+	/**< During smooth-takeoff, below ALTITUDE_THRESHOLD the yaw-control is turned off ant tilt is limited */
+	static constexpr float ALTITUDE_THRESHOLD = 0.3f;
 
 	/**
 	 * Hysteresis that turns true once vehicle is armed for MPC_IDLE_TKO seconds.