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 db5505ba43..09dabe01ea 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1365,9 +1365,10 @@ MulticopterPositionControl::task_main()
 					_vel_sp(2) = _params.land_speed;
 				}
 
-				/* velocity handling during takeoff */
+				/* special thrust setpoint generation for takeoff from ground */
 				if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid
-				    && _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
+				    && _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF
+				    && _control_mode.flag_armed) {
 
 					// check if we are not already in air.
 					// if yes then we don't need a jumped takeoff anymore