diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
index 9f0e09d004..fe6230620a 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
@@ -79,37 +79,10 @@ bool FlightTaskManualAcceleration::update()
 
 void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY()
 {
-	if (PX4_ISFINITE(_position_setpoint(0))) {
-		_position_setpoint(0) = _position(0);
-		_position_setpoint(1) = _position(1);
-	}
+	_stick_acceleration_xy.resetPosition();
 }
 
 void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY()
 {
-	if (PX4_ISFINITE(_velocity_setpoint(0))) {
-		_velocity_setpoint(0) = _velocity(0);
-		_velocity_setpoint(1) = _velocity(1);
-	}
-}
-
-void FlightTaskManualAcceleration::_ekfResetHandlerPositionZ()
-{
-	if (PX4_ISFINITE(_position_setpoint(2))) {
-		_position_setpoint(2) = _position(2);
-	}
-}
-
-void FlightTaskManualAcceleration::_ekfResetHandlerVelocityZ()
-{
-	if (PX4_ISFINITE(_velocity_setpoint(2))) {
-		_velocity_setpoint(2) = _velocity(2);
-	}
-}
-
-void FlightTaskManualAcceleration::_ekfResetHandlerHeading(float delta_psi)
-{
-	if (PX4_ISFINITE(_yaw_setpoint)) {
-		_yaw_setpoint += delta_psi;
-	}
+	_stick_acceleration_xy.resetVelocity(Vector2f(_velocity));
 }
diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
index 2073de6593..36d360ca81 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
@@ -58,7 +58,4 @@ private:
 
 	void _ekfResetHandlerPositionXY() override;
 	void _ekfResetHandlerVelocityXY() override;
-	void _ekfResetHandlerPositionZ() override;
-	void _ekfResetHandlerVelocityZ() override;
-	void _ekfResetHandlerHeading(float delta_psi) override;
 };