diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
index b68088f82b..f220b4fe22 100644
--- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
@@ -63,6 +63,12 @@ void PositionControl::setThrustLimits(const float min, const float max)
 	_lim_thr_max = max;
 }
 
+void PositionControl::updateHoverThrust(const float hover_thrust_new)
+{
+	_vel_int(2) += hover_thrust_new - _hover_thrust;
+	setHoverThrust(hover_thrust_new);
+}
+
 void PositionControl::setState(const PositionControlStates &states)
 {
 	_pos = states.position;
diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
index 4384dfd74c..607ba65094 100644
--- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
@@ -114,10 +114,17 @@ public:
 	void setTiltLimit(const float tilt) { _lim_tilt = tilt; }
 
 	/**
-	 * Set the maximum tilt angle in radians the output attitude is allowed to have
-	 * @param thrust [0,1] with which the vehicle hovers not aacelerating down or up with level orientation
+	 * Set the normalized hover thrust
+	 * @param thrust [0,1] with which the vehicle hovers not acelerating down or up with level orientation
 	 */
-	void setHoverThrust(const float thrust) { _hover_thrust = thrust; }
+	void setHoverThrust(const float hover_thrust) { _hover_thrust = hover_thrust; }
+
+	/**
+	 * Update the hover thrust without immediately affecting the output
+	 * by adjusting the integrator. This prevents propagating the dynamics
+	 * of the hover thrust signal directly to the output of the controller.
+	 */
+	void updateHoverThrust(const float hover_thrust_new);
 
 	/**
 	 * Pass the current vehicle state to the controller
@@ -156,6 +163,11 @@ public:
 	 */
 	void resetIntegral() { _vel_int.setZero(); }
 
+	/**
+	 * @return the value of the velocity integrator
+	 */
+	matrix::Vector3f getIntegral() const { return _vel_int; }
+
 	/**
 	 * Get the controllers output local position setpoint
 	 * These setpoints are the ones which were executed on including PID output and feed-forward.
diff --git a/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp b/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
index c994f024e3..4645241680 100644
--- a/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
+++ b/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
@@ -326,3 +326,32 @@ TEST_F(PositionControlBasicTest, InvalidState)
 	_position_control.setState(states);
 	EXPECT_FALSE(runController());
 }
+
+
+TEST_F(PositionControlBasicTest, UpdateHoverThrust)
+{
+	// GIVEN: some hover thrust and 0 velocity change
+	const float hover_thrust = 0.6f;
+	_position_control.setHoverThrust(hover_thrust);
+
+	_input_setpoint.vx = 0.f;
+	_input_setpoint.vy = 0.f;
+	_input_setpoint.vz = -0.f;
+
+	// WHEN: we run the controller
+	EXPECT_TRUE(runController());
+
+	// THEN: the output thrust equals the hover thrust
+	EXPECT_EQ(_output_setpoint.thrust[2], -hover_thrust);
+
+	// HOWEVER WHEN: we set a new hover thrust through the update function
+	const float hover_thrust_new = 0.7f;
+	_position_control.updateHoverThrust(hover_thrust_new);
+	EXPECT_TRUE(runController());
+
+	// THEN: the integral is updated to avoid discontinuities and
+	// the output is still the same
+	EXPECT_EQ(_output_setpoint.thrust[2], -hover_thrust);
+	const Vector3f integrator_new(_position_control.getIntegral());
+	EXPECT_EQ(integrator_new(2) - hover_thrust_new, -hover_thrust);
+}
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 add3c572a6..ce658bcb30 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -373,7 +373,7 @@ MulticopterPositionControl::parameters_update(bool force)
 				mavlink_log_critical(&_mavlink_log_pub, "Hover thrust has been constrained by min/max");
 			}
 
-			_control.setHoverThrust(_param_mpc_thr_hover.get());
+			_control.updateHoverThrust(_param_mpc_thr_hover.get());
 		}
 
 		_flight_tasks.handleParameterUpdate();
@@ -415,7 +415,7 @@ MulticopterPositionControl::poll_subscriptions()
 		hover_thrust_estimate_s hte;
 
 		if (_hover_thrust_estimate_sub.update(&hte)) {
-			_control.setHoverThrust(hte.hover_thrust);
+			_control.updateHoverThrust(hte.hover_thrust);
 		}
 	}
 }