diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index e3808d7a5a..510ff57e98 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -847,7 +847,16 @@ Navigator::get_default_altitude_acceptance_radius()
 		return _param_fw_alt_acceptance_radius.get();
 
 	} else {
-		return _param_mc_alt_acceptance_radius.get();
+		float alt_acceptance_radius = _param_mc_alt_acceptance_radius.get();
+
+		const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
+
+		if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
+		    && pos_ctrl_status.altitude_acceptance_radius > alt_acceptance_radius) {
+			alt_acceptance_radius = pos_ctrl_status.altitude_acceptance_radius;
+		}
+
+		return alt_acceptance_radius;
 	}
 }