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 e6722032ed..ce47f13bad 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1825,9 +1825,20 @@ MulticopterPositionControl::control_position(float dt)
 		float vel_z_change = (_vel(2) - _vel_prev(2)) / dt;
 		_acc_z_lp = _acc_z_lp * (1.0f - dt * 8.0f) + dt * 8.0f * vel_z_change;
 
-		/* adjust limits for landing mode */
-		if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid &&
-		    _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
+		// We can only run the control if we're already in-air or have a takeoff setpoint.
+		// Otherwise, we should just bail out
+		const bool got_takeoff_setpoint = (_pos_sp_triplet.current.valid &&
+						   _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF);
+
+		if (_vehicle_land_detected.landed && !got_takeoff_setpoint) {
+			PX4_INFO("still on ground");
+			// Keep throttle low while still on ground.
+			thr_max = 0.0f;
+
+		} else if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid &&
+			   _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
+
+			/* adjust limits for landing mode */
 			/* limit max tilt and min lift when landing */
 			tilt_max = _params.tilt_max_land;