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 b15780931f..932d9beb62 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -867,17 +867,21 @@ MulticopterPositionControl::limit_altitude()
 	// We want to fly upwards. Check that vehicle does not exceed altitude limit
 	if (!_run_alt_control && _vel_sp(2) <= 0.0f) {
 
-		// predict future position based on current position, velocity, max acceleration downwards and time to reach zero velocity
-		float pos_z_next = _pos(2);
+		// estimate demanded thrust from altitude control loop with setpoint at limit
+		// excluding the integrator and other thrust correction terms
+		float vel_z_sp_altctl = (poz_z_min_limit - _pos(2)) * _pos_p(2);
+		float vel_z_err_altctl = vel_z_sp_altctl - _vel(2);
+		float thrust_altctl = vel_z_err_altctl * _vel_p(2) + _vel_err_d(2) * _vel_d(2);
 
-		if (_vel(2) < 0.0f) {
-			// allow for stopping distance only when approaching the altitude limit from below
-			// TODO better calculation that allows for delay in braking
-			pos_z_next -= 0.5f * _vel(2) * _vel(2) / _acceleration_z_max_down.get();
-		}
+		// estimate demanded velocity from velocity control loop
+		// excluding the integrator and any other thrust correction terms
+		float vel_z_err_velctl = _vel_sp(2) - _vel(2);
+		float thrust_velctl = vel_z_err_velctl * _vel_p(2) + _vel_err_d(2) * _vel_d(2);
 
-		if (pos_z_next < poz_z_min_limit) {
-			// prevent the vehicle from exceeding maximum altitude by switching back to altitude control with maximum altitude as setpoint
+		// if the altitude control about the setpoint is demanding a more positive velocity
+		// then switch to altitude control
+		if (thrust_altctl > thrust_velctl) {
+			// prevent the vehicle from exceeding maximum altitude by limiting the
 			_pos_sp(2) = poz_z_min_limit;
 			_run_alt_control = true;
 		}