diff --git a/docs/en/flight_modes_fw/takeoff.md b/docs/en/flight_modes_fw/takeoff.md
index a59413394d..7faca65a74 100644
--- a/docs/en/flight_modes_fw/takeoff.md
+++ b/docs/en/flight_modes_fw/takeoff.md
@@ -48,7 +48,7 @@ Parameters that affect both catapult/hand-launch and runway takeoffs:
 | <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT)    | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff.                                              |
 | <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD)          | Takeoff airspeed (is set to [FW_AIRSPD_MIN](../advanced_config/parameter_reference.md#FW_AIRSPD_MIN) if not defined by operator) |
 | <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN](../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN) | This is the minimum pitch angle setpoint during the climbout phase                                                               |
-| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)          | Maximum climb rate.                                                                                                              |
+| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)          | Climb rate setpoint during climbout to takeoff altitude.                                                                                                             |
 | <a id="FW_FLAPS_TO_SCL"></a>[FW_FLAPS_TO_SCL](../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL)    | Flaps setpoint during takeoff                                                                                                    |
 | <a id="FW_AIRSPD_FLP_SC"></a>[FW_AIRSPD_FLP_SC](../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC)    | Factor applied to the minimum airspeed when flaps are fully deployed. Necessary if FW_TKO_AIRSPD is below FW_AIRSPD_MIN.                                                                                             |
 
diff --git a/src/modules/fw_mode_manager/FixedWingModeManager.cpp b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
index 57eef702d8..f1f8810907 100644
--- a/src/modules/fw_mode_manager/FixedWingModeManager.cpp
+++ b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
@@ -1219,14 +1219,13 @@ FixedWingModeManager::control_auto_takeoff(const hrt_abstime &now, const float c
 							   _param_fw_thr_idle.get() : NAN;
 			const fixed_wing_longitudinal_setpoint_s fw_longitudinal_control_sp = {
 				.timestamp = now,
-				.altitude = altitude_setpoint_amsl,
-				.height_rate = NAN,
+				.altitude = NAN,
+				.height_rate = _param_fw_t_clmb_max.get(),
 				.equivalent_airspeed = takeoff_airspeed,
 				.pitch_direct = NAN,
 				.throttle_direct = NAN
 			};
 
-
 			_longitudinal_ctrl_sp_pub.publish(fw_longitudinal_control_sp);
 
 			_ctrl_configuration_handler.setPitchMin(radians(_takeoff_pitch_min.get()));