diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 18e957c86b..dbe2ccbff1 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1550,8 +1550,8 @@ void MulticopterPositionControl::control_auto(float dt)
 						 * the velocity at target should be 1/5 * cruising speed;
 						 * angle = 2 -> vel_close = min_cruising_speed */
 
-						/* middle cruise speed is a number between maximum cruising speed and minimum cruising speed and corresponds to speed at angle = 1.0 */
-						float middle_cruise_speed = get_cruising_speed_xy() / 5.0f;
+						/* middle cruise speed is a number between maximum cruising speed and minimum cruising speed and corresponds to speed at angle = 1.0 = 90degrees */
+						float middle_cruise_speed = 1.0f;
 
 						/* make sure min cruise speed is always smaller than middle cruise speed but larger than 0*/
 						float min_cruise_speed = (_min_cruise_speed.get() < middle_cruise_speed) ? _min_cruise_speed.get() : middle_cruise_speed
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index da1f938caf..adeea69b6a 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -252,13 +252,13 @@ PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
  * position stabilized mode (POSCTRL).
  *
  * @unit m/s
- * @min 0.5
- * @max 8.0
+ * @min 0.05
+ * @max 1.0
  * @increment 1
  * @decimal 2
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 0.5f);
 
 /**
  * Maximum horizontal velocity setpoint for manual controlled mode