diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
index 2b37d63233..81f003837a 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
@@ -44,7 +44,7 @@ FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent,
 	FlightTaskManualStabilized(parent, name),
 	_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
 	_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
-	_vel_z_dz(parent, "MPC_HOLD_MAX_Z", false)
+	_vel_hold_thr_z(parent, "MPC_HOLD_MAX_Z", false)
 
 {}
 
@@ -73,7 +73,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
 
 	/* handle position and altitude hold */
 	const bool apply_brake_z = fabsf(_vel_sp_z) <= FLT_EPSILON;
-	const bool stopped_z = (_vel_z_dz.get() < FLT_EPSILON || fabsf(_velocity(2)) < _vel_z_dz.get());
+	const bool stopped_z = (_vel_hold_thr_z.get() < FLT_EPSILON || fabsf(_velocity(2)) < _vel_hold_thr_z.get());
 
 	if (apply_brake_z && stopped_z && !PX4_ISFINITE(_pos_sp_z)) {
 		_pos_sp_z = _position(2);
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
index 6f4e68c4cf..528044ed83 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
@@ -58,7 +58,7 @@ protected:
 
 	control::BlockParamFloat _vel_max_down; /**< Maximum speed allowed to go up. */
 	control::BlockParamFloat _vel_max_up; /**< Maximum speed allowed to go down. */
-	control::BlockParamFloat _vel_z_dz; /**< velocity threshold/deadzone to switch into vertical position hold */
+	control::BlockParamFloat _vel_hold_thr_z; /**< velocity threshold to switch back into vertical position hold */
 
 	void _updateAltitudeLock(); /**< Checks for position lock. */
 	void _updateSetpoints() override; /**< Updates all setpoints. */
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
index f4bcadca3e..480368930b 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
@@ -45,7 +45,7 @@ FlightTaskManualPosition::FlightTaskManualPosition(control::SuperBlock *parent,
 	FlightTaskManualAltitude(parent, name),
 	_vel_xy_manual_max(parent, "MPC_VEL_MANUAL", false),
 	_acc_xy_max(parent, "MPC_ACC_HOR_MAX", false),
-	_vel_xy_dz(parent,  "MPC_HOLD_MAX_XY", false)
+	_vel_hold_thr_xy(parent,  "MPC_HOLD_MAX_XY", false)
 {}
 
 bool FlightTaskManualPosition::activate()
@@ -84,7 +84,7 @@ void FlightTaskManualPosition::_updateXYlock()
 	/* If position lock is not active, position setpoint is set to NAN.*/
 	const float vel_xy_norm = Vector2f(&_velocity(0)).length();
 	const bool apply_brake = _vel_sp_xy.length() < FLT_EPSILON;
-	const bool stopped = (_vel_xy_dz.get() < FLT_EPSILON || vel_xy_norm < _vel_xy_dz.get());
+	const bool stopped = (_vel_hold_thr_xy.get() < FLT_EPSILON || vel_xy_norm < _vel_hold_thr_xy.get());
 
 	if (apply_brake && stopped && !PX4_ISFINITE(_pos_sp_xy(0))) {
 		_pos_sp_xy = matrix::Vector2f(&_position(0));
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
index 127927d92e..62856287b3 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
@@ -54,12 +54,12 @@ public:
 	bool update() override;
 
 protected:
-	matrix::Vector2f _vel_sp_xy{}; /**< Scaled velocity setpoint from stick. NAN during position lock. */
-	matrix::Vector2f _pos_sp_xy{}; /**< Position setpoint during lock. Otherwise NAN.*/
+	matrix::Vector2f _vel_sp_xy{}; /**< Scaled velocity setpoint from stick. NAN during position lock */
+	matrix::Vector2f _pos_sp_xy{}; /**< Position setpoint during lock. Otherwise NAN */
 
-	control::BlockParamFloat _vel_xy_manual_max; /**< Maximum speed allowed horizontally, */
-	control::BlockParamFloat _acc_xy_max;/**< Maximum acceleration horizontally. Only used to compute lock time. */
-	control::BlockParamFloat _vel_xy_dz; /**< velocity threshold/deadzone to switch into horizontal position hold */
+	control::BlockParamFloat _vel_xy_manual_max; /**< Maximum speed allowed horizontally */
+	control::BlockParamFloat _acc_xy_max;/**< Maximum acceleration horizontally. Only used to compute lock time */
+	control::BlockParamFloat _vel_hold_thr_xy; /**< velocity threshold to switch back into horizontal position hold */
 
 	void _updateXYlock(); /**< Applies positon lock based on stick and velocity */
 	void _updateSetpoints() override;