diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
index a73d60e7fc..0ae3d35bb6 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
@@ -31,13 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * @file FlightTaskManualPosition.hpp
- *
- * Flight task for manual position controlled mode.
- *
- */
-
 #pragma once
 
 #include "FlightTaskManualAltitudeSmoothVel.hpp"
@@ -53,7 +46,7 @@ public:
 	bool activate(const trajectory_setpoint_s &last_setpoint) override;
 	bool update() override;
 
-private:
+protected:
 	void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) override;
 	void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override;
 
diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
index 17712ff090..4df57ca256 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
@@ -73,10 +73,12 @@ void StickAccelerationXY::resetAcceleration(const matrix::Vector2f &acceleration
 void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw, const float yaw_sp, const Vector3f &pos,
 		const matrix::Vector2f &vel_sp_feedback, const float dt)
 {
-	// maximum commanded acceleration and velocity
-	Vector2f acceleration_scale(_param_mpc_acc_hor.get(), _param_mpc_acc_hor.get());
+	// maximum commanded velocity can be constrained dynamically
 	const float velocity_sc = fminf(_param_mpc_vel_manual.get(), _velocity_constraint);
 	Vector2f velocity_scale(velocity_sc, velocity_sc);
+	// maximum commanded acceleration is scaled down with velocity
+	const float acceleration_sc = _param_mpc_acc_hor.get() * (velocity_sc / _param_mpc_vel_manual.get());
+	Vector2f acceleration_scale(acceleration_sc, acceleration_sc);
 
 	acceleration_scale *= 2.f; // because of drag the average acceleration is half