diff --git a/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp b/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp
index 575da6e353..fb5bc40673 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp
@@ -62,6 +62,13 @@ bool Sticks::checkAndUpdateStickInputs()
 		_positions_expo(2) = math::expo_deadzone(_positions(2), _param_mpc_z_man_expo.get(),  _param_mpc_hold_dz.get());
 		_positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(),    _param_mpc_hold_dz.get());
 
+		_aux_positions(0) = manual_control_setpoint.aux1;
+		_aux_positions(1) = manual_control_setpoint.aux2;
+		_aux_positions(2) = manual_control_setpoint.aux3;
+		_aux_positions(3) = manual_control_setpoint.aux4;
+		_aux_positions(4) = manual_control_setpoint.aux5;
+		_aux_positions(5) = manual_control_setpoint.aux6;
+
 		// valid stick inputs are required
 		_input_available = manual_control_setpoint.valid && _positions.isAllFinite();
 
diff --git a/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp b/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
index 4b49134d19..be8b69e306 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
@@ -74,6 +74,8 @@ public:
 	const matrix::Vector2f getPitchRoll() { return _positions.slice<2, 1>(0, 0); }
 	const matrix::Vector2f getPitchRollExpo() { return _positions_expo.slice<2, 1>(0, 0); }
 
+	const matrix::Vector<float, 6> &getAux() const { return _aux_positions; }
+
 	/**
 	 * Limit the the horizontal input from a square shaped joystick gimbal to a unit circle
 	 * @param v Vector containing x, y, z axis of the joystick gimbal. x, y get adjusted
@@ -93,6 +95,8 @@ private:
 	matrix::Vector4f _positions; ///< unmodified manual stick inputs
 	matrix::Vector4f _positions_expo; ///< modified manual sticks using expo function
 
+	matrix::Vector<float, 6> _aux_positions;
+
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)};