diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
index 6f79d1d1a8..332a194f5d 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
@@ -123,7 +123,7 @@ Vector2f StickAccelerationXY::calculateDrag(Vector2f drag_coefficient, const flo
 	_brake_boost_filter.setParameters(dt, .8f);
 
 	if (stick_xy.norm_squared() < FLT_EPSILON) {
-		_brake_boost_filter.update(2.f);
+		_brake_boost_filter.update(math::max(2.f, sqrtf(_param_mpc_vel_manual.get())));
 
 	} else {
 		_brake_boost_filter.update(1.f);