diff --git a/src/modules/vtol_att_control/standard_params.c b/src/modules/vtol_att_control/standard_params.c
index 853aa908d6..37ac140eae 100644
--- a/src/modules/vtol_att_control/standard_params.c
+++ b/src/modules/vtol_att_control/standard_params.c
@@ -53,6 +53,8 @@
  * @value 2 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.
  * @value 3 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.
  * @value 4 Enable FW forward actuation in hover in altitude, position and auto modes.
+ * @value 5 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1 (except LANDING).
+ * @value 6 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2 (except LANDING).
  *
  * @group VTOL Attitude Control
  */
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 27b93b9362..692db98304 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -497,6 +497,26 @@ float VtolType::pusher_assist()
 			return 0.0f;
 		}
 
+		break;
+
+	case ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND: // disable if below MPC_LAND_ALT1 or in land mode
+		if ((_attc->get_pos_sp_triplet()->current.valid
+		    && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
+		    && _v_control_mode->flag_control_auto_enabled) ||
+		    (!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _params->mpc_land_alt1))) {
+			return 0.0f;
+		}
+
+		break;
+
+	case ENABLE_ABOVE_MPC_LAND_ALT2_WITHOUT_LAND: // disable if below MPC_LAND_ALT2 or in land mode
+		if ((_attc->get_pos_sp_triplet()->current.valid
+		    && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
+		    && _v_control_mode->flag_control_auto_enabled) ||
+		    (!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _params->mpc_land_alt2))) {
+			return 0.0f;
+		}
+
 		break;
 	}
 
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index 355fe534fb..68c5a89cb6 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -100,7 +100,9 @@ enum VtolForwardActuationMode {
 	ENABLE_WITHOUT_LAND,
 	ENABLE_ABOVE_MPC_LAND_ALT1,
 	ENABLE_ABOVE_MPC_LAND_ALT2,
-	ENABLE_ALL_MODES
+	ENABLE_ALL_MODES,
+	ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND,
+	ENABLE_ABOVE_MPC_LAND_ALT2_WITHOUT_LAND
 };
 
 // these are states that can be applied to a selection of multirotor motors.