diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c
index 1c9c95bc4c..4f5faf3cea 100644
--- a/src/modules/mc_att_control/mc_att_control_params.c
+++ b/src/modules/mc_att_control/mc_att_control_params.c
@@ -241,3 +241,17 @@ PARAM_DEFINE_FLOAT(OMNI_ATT_ROLL, 0.0f);
  * @group Multicopter Attitude Control
  */
 PARAM_DEFINE_FLOAT(OMNI_ATT_PITCH, 0.0f);
+
+/**
+ * Axes for thrust projection in omni-directional attitude modes
+ *
+ * Specifies the axis used for projecting inertial thrust setpoint
+ * to the body-fixed frame in omni-directional modes (OMNI_ATT_MODE > 0).
+ *
+ * @min 0
+ * @max 1
+ * @value 0 commanded attitude
+ * @value 1 current attitude
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_INT32(OMNI_PROJ_AXES, 1);
diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
index 1acc1a732a..edd2aaee72 100644
--- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
@@ -363,9 +363,9 @@ void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s
 
 void PositionControl::getAttitudeSetpoint(const matrix::Quatf &att, const int omni_att_mode,
 		const float omni_dfc_max_thrust, float &omni_att_tilt_angle, float &omni_att_tilt_dir, float &omni_att_roll,
-		float &omni_att_pitch, vehicle_attitude_setpoint_s &attitude_setpoint) const
+		float &omni_att_pitch, int omni_proj_axes, vehicle_attitude_setpoint_s &attitude_setpoint) const
 {
 	ControlMath::thrustToAttitude(_thr_sp, _yaw_sp, att, omni_att_mode, omni_dfc_max_thrust, omni_att_tilt_angle,
-				      omni_att_tilt_dir, omni_att_roll, omni_att_pitch, 1, attitude_setpoint);
+				      omni_att_tilt_dir, omni_att_roll, omni_att_pitch, omni_proj_axes, attitude_setpoint);
 	attitude_setpoint.yaw_sp_move_rate = _yawspeed_sp;
 }
diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
index 8cd71aef97..267f7180a7 100644
--- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
@@ -180,7 +180,7 @@ public:
 	 */
 	void getAttitudeSetpoint(const matrix::Quatf &att, const int omni_att_mode, const float omni_dfc_max_thrust,
 				 float &omni_att_tilt_angle, float &omni_att_tilt_dir, float &omni_att_roll, float &omni_att_pitch,
-				 vehicle_attitude_setpoint_s &attitude_setpoint) const;
+				 int omni_proj_axes, vehicle_attitude_setpoint_s &attitude_setpoint) const;
 
 private:
 	/**
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 22c78ca39a..1a348f0fdf 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -180,7 +180,8 @@ private:
 		(ParamFloat<px4::params::OMNI_ATT_TLT_ANG>) _param_omni_att_tilt_angle,
 		(ParamFloat<px4::params::OMNI_ATT_TLT_DIR>) _param_omni_att_tilt_dir,
 		(ParamFloat<px4::params::OMNI_ATT_ROLL>) _param_omni_att_roll,
-		(ParamFloat<px4::params::OMNI_ATT_PITCH>) _param_omni_att_pitch
+		(ParamFloat<px4::params::OMNI_ATT_PITCH>) _param_omni_att_pitch,
+		(ParamInt<px4::params::OMNI_PROJ_AXES>) _param_omni_proj_axes
 	);
 
 	control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
@@ -667,7 +668,7 @@ MulticopterPositionControl::Run()
 			float omni_att_roll = _param_omni_att_roll.get();
 			float omni_att_pitch = _param_omni_att_pitch.get();
 			_control.getAttitudeSetpoint(matrix::Quatf(att.q), _param_omni_att_mode.get(), _param_omni_dfc_max_thr.get(),
-						     omni_att_tilt_angle, omni_att_tilt_dir, omni_att_roll, omni_att_pitch, attitude_setpoint);
+						     omni_att_tilt_angle, omni_att_tilt_dir, omni_att_roll, omni_att_pitch, _param_omni_proj_axes.get(), attitude_setpoint);
 
 			// Update the tilt angle and direciton parameters if we are in tilt estimation mode
 			if (_param_omni_att_mode.get() == 5) {