diff --git a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
index 4074916ff3..8f4d8b808c 100644
--- a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
+++ b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
@@ -168,9 +168,13 @@ void MulticopterHoverThrustEstimator::Run()
 				// Inform the hover thrust estimator about the measured vertical
 				// acceleration (positive acceleration is up) and the current thrust (positive thrust is up)
 				// Guard against fast up and down motions biasing the estimator due to large drag and prop wash effects
-				if (fabsf(local_pos.vz) < 2.f) {
-					_hover_thrust_ekf.fuseAccZ(-local_pos.az, -local_pos_sp.thrust[2]);
-				}
+				const float meas_noise_coeff_z = fmaxf((fabsf(local_pos.vz) - _param_hte_vz_thr.get()) + 1.f, 1.f);
+				const float meas_noise_coeff_xy = fmaxf((matrix::Vector2f(local_pos.vx,
+									local_pos.vy).norm() - _param_hte_vxy_thr.get()) + 1.f,
+									1.f);
+
+				_hover_thrust_ekf.setMeasurementNoiseScale(fmaxf(meas_noise_coeff_xy, meas_noise_coeff_z));
+				_hover_thrust_ekf.fuseAccZ(-local_pos.az, -local_pos_sp.thrust[2]);
 
 				bool valid = (_hover_thrust_ekf.getHoverThrustEstimateVar() < 0.001f);
 
diff --git a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp
index 6f6280e115..2e88f6a8f5 100644
--- a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp
+++ b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp
@@ -121,6 +121,8 @@ private:
 		(ParamFloat<px4::params::HTE_HT_NOISE>) _param_hte_ht_noise,
 		(ParamFloat<px4::params::HTE_ACC_GATE>) _param_hte_acc_gate,
 		(ParamFloat<px4::params::HTE_HT_ERR_INIT>) _param_hte_ht_err_init,
+		(ParamFloat<px4::params::HTE_VXY_THR>) _param_hte_vxy_thr,
+		(ParamFloat<px4::params::HTE_VZ_THR>) _param_hte_vz_thr,
 		(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover
 	)
 };
diff --git a/src/modules/mc_hover_thrust_estimator/hover_thrust_estimator_params.c b/src/modules/mc_hover_thrust_estimator/hover_thrust_estimator_params.c
index 47d7f6ea38..3e1af502d0 100644
--- a/src/modules/mc_hover_thrust_estimator/hover_thrust_estimator_params.c
+++ b/src/modules/mc_hover_thrust_estimator/hover_thrust_estimator_params.c
@@ -81,3 +81,35 @@ PARAM_DEFINE_FLOAT(HTE_ACC_GATE, 3.0);
  * @group Hover Thrust Estimator
  */
 PARAM_DEFINE_FLOAT(HTE_HT_ERR_INIT, 0.1);
+
+/**
+ * Horizontal velocity threshold for sensitivity reduction
+ *
+ * Above this speed, the measurement noise is linearly increased
+ * to reduce the sensitivity of the estimator from biased measurement.
+ *
+ * Set to a low value on vehicles with large lifting surfaces.
+ *
+ * @decimal 1
+ * @min 1.0
+ * @max 20.0
+ * @unit m/s
+ * @group Hover Thrust Estimator
+ */
+PARAM_DEFINE_FLOAT(HTE_VXY_THR, 10.0);
+
+/**
+ * Vertical velocity threshold for sensitivity reduction
+ *
+ * Above this speed, the measurement noise is linearly increased
+ * to reduce the sensitivity of the estimator from biased measurement.
+ *
+ * Set to a low value on vehicles affected by air drag when climbing or descending.
+ *
+ * @decimal 1
+ * @min 1.0
+ * @max 10.0
+ * @unit m/s
+ * @group Hover Thrust Estimator
+ */
+PARAM_DEFINE_FLOAT(HTE_VZ_THR, 2.0);
diff --git a/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.cpp b/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.cpp
index 94c13cad7b..64fec9d074 100644
--- a/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.cpp
+++ b/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.cpp
@@ -88,7 +88,7 @@ inline float ZeroOrderHoverThrustEkf::computeH(const float thrust) const
 
 inline float ZeroOrderHoverThrustEkf::computeInnovVar(const float H) const
 {
-	const float R = _acc_var;
+	const float R = _acc_var * _acc_var_scale;
 	const float P = _state_var;
 	return math::max(H * P * H + R, R);
 }
diff --git a/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.hpp b/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.hpp
index 43d4a173a5..1c944879d7 100644
--- a/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.hpp
+++ b/src/modules/mc_hover_thrust_estimator/zero_order_hover_thrust_ekf.hpp
@@ -81,6 +81,7 @@ public:
 	void setHoverThrust(float hover_thrust) { _hover_thr = math::constrain(hover_thrust, 0.1f, 0.9f); }
 	void setProcessNoiseStdDev(float process_noise) { _process_var = process_noise * process_noise; }
 	void setMeasurementNoiseStdDev(float measurement_noise) { _acc_var = measurement_noise * measurement_noise; }
+	void setMeasurementNoiseScale(float scale) { _acc_var_scale = scale * scale; }
 	void setHoverThrustStdDev(float hover_thrust_noise) { _state_var = hover_thrust_noise * hover_thrust_noise; }
 	void setAccelInnovGate(float gate_size) { _gate_size = gate_size; }
 
@@ -98,6 +99,7 @@ private:
 	float _state_var{0.01f}; ///< Initial hover thrust uncertainty variance (thrust^2)
 	float _process_var{12.5e-6f}; ///< Hover thrust process noise variance (thrust^2/s^2)
 	float _acc_var{5.f}; ///< Acceleration variance (m^2/s^3)
+	float _acc_var_scale{1.f}; ///< Multiplicator of the measurement variance, used to decrease sensivity
 	float _dt{0.02f};
 
 	float _innov{0.f}; ///< Measurement innovation (m/s^2)