diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index b65e48d72b..0c29fc6d63 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -65,7 +65,8 @@ PositionControl::PositionControl()
 	_VelMaxZup_h = param_find("MPC_Z_VEL_MAX_UP");
 	_ThrHover_h = param_find("MPC_THR_HOVER");
 	_ThrMax_h = param_find("MPC_THR_MAX");
-	_ThrMin_h = param_find("MPC_THR_MIN");
+	_ThrMinPosition_h = param_find("MPC_THR_MIN");
+	_ThrMinStab_h = param_find("MPC_MANTHR_MIN");
 
 	/* Set parameter the very first time. */
 	_setParams();
@@ -93,9 +94,11 @@ void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &se
 	 * controller and just return thrust.
 	 */
 	_skipController = false;
+	_ThrLimit[1] = _ThrMinPosition;
 
 	if (PX4_ISFINITE(setpoint.thrust[0]) && PX4_ISFINITE(setpoint.thrust[1]) && PX4_ISFINITE(setpoint.thrust[2])) {
 		_skipController = true;
+		_ThrLimit[1] = _ThrMinStab;
 		_pos_sp.zero();
 		_vel_sp.zero();
 		_acc_sp.zero();
@@ -333,6 +336,7 @@ void PositionControl::_setParams()
 	param_get(_VelMaxZdown_h, &_VelMaxZ.down);
 
 	param_get(_ThrHover_h, &_ThrHover);
-	param_get(_ThrMax_h, &_ThrustLimit.max);
-	param_get(_ThrMin_h, &_ThrustLimit.min);
+	param_get(_ThrMax_h, &_ThrLimit[0]);
+	param_get(_ThrMinPosition_h, &_ThrMinPosition);
+	param_get(_ThrMinStab_h, &_ThrMinStab);
 }
diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp
index 5810263c70..ac0d31d8b6 100644
--- a/src/modules/mc_pos_control/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl.hpp
@@ -111,7 +111,8 @@ private:
 	param_t _VelMaxZup_h{PARAM_INVALID};
 	param_t _ThrHover_h{PARAM_INVALID};
 	param_t _ThrMax_h{PARAM_INVALID};
-	param_t _ThrMin_h{PARAM_INVALID};
+	param_t _ThrMinPosition_h{PARAM_INVALID};
+	param_t _ThrMinStab_h{PARAM_INVALID};
 
 	/* Parameters */
 	matrix::Vector3f Pp, Pv, Iv, Dv = matrix::Vector3f{0.0f, 0.0f, 0.0f};
@@ -129,6 +130,8 @@ private:
 	float _ThrHover{0.5f};
 
 	float _ThrLimit[2]; //index 0: max, index 1: min
+	float _ThrMinPosition{0.0f}; // minimum throttle for any position controlled mode
+	float _ThrMinStab{0.0f}; // minimum throttle for stabilized
 	bool _skipController{false};
 
 	/* Helper methods */