diff --git a/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp b/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp
index af2d28b41b..19388bc4ad 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -63,7 +63,7 @@ bool Sticks::checkAndUpdateStickInputs()
 		_positions_expo(3) = math::expo_deadzone(_positions(3), _param_mpc_yaw_expo.get(),    _param_mpc_hold_dz.get());
 
 		// valid stick inputs are required
-		_input_available = _positions.isAllFinite();
+		_input_available = manual_control_setpoint.valid && _positions.isAllFinite();
 
 	} else {
 		failsafe_flags_s failsafe_flags;
diff --git a/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp b/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
index a43fbfef1d..fd7c3d1d01 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -59,18 +59,20 @@ public:
 	bool isAvailable() { return _input_available; };
 
 	// Position : 0 : pitch, 1 : roll, 2 : throttle, 3 : yaw
-	const matrix::Vector<float, 4> &getPosition() { return _positions; };
-	const matrix::Vector<float, 4> &getPositionExpo() { return _positions_expo; };
+	const matrix::Vector<float, 4> &getPosition() { return _positions; }; // Raw stick position, no deadzone
+	const matrix::Vector<float, 4> &getPositionExpo() { return _positions_expo; }; // Deadzone and expo applied
 
 	// Helper functions to get stick values more intuitively
-	float getPitch() const { return _positions(0); }
 	float getRoll() const { return _positions(1); }
-	float getThrottleZeroCentered() const { return -_positions(2); } // Convert Z-axis(down) command to Up-axis frame
-	float getYaw() const { return _positions(3); }
-	float getPitchExpo() const { return _positions_expo(0); }
 	float getRollExpo() const { return _positions_expo(1); }
-	float getThrottleZeroCenteredExpo() const { return -_positions_expo(2); } // Convert Z-axis(down) command to Up-axis frame
+	float getPitch() const { return _positions(0); }
+	float getPitchExpo() const { return _positions_expo(0); }
+	float getYaw() const { return _positions(3); }
 	float getYawExpo() const { return _positions_expo(3); }
+	float getThrottleZeroCentered() const { return -_positions(2); } // Convert Z-axis(down) command to Up-axis frame
+	float getThrottleZeroCenteredExpo() const { return -_positions_expo(2); }
+	const matrix::Vector2f getPitchRoll() { return _positions.slice<2, 1>(0, 0); }
+	const matrix::Vector2f getPitchRollExpo() { return _positions_expo.slice<2, 1>(0, 0); }
 
 	/**
 	 * Limit the the horizontal input from a square shaped joystick gimbal to a unit circle