diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index e4682689af..392b31cf42 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -98,7 +98,8 @@ static int	_control_task = -1;			/**< task handle for sensor task */
 #define HDG_HOLD_REACHED_DIST 		1000.0f 	// distance (plane to waypoint in front) at which waypoints are reset in heading hold mode
 #define HDG_HOLD_SET_BACK_DIST 		100.0f 		// distance by which previous waypoint is set behind the plane
 #define HDG_HOLD_YAWRATE_THRESH 	0.1f 		// max yawrate at which plane locks yaw for heading hold mode
-#define HDG_HOLD_MAN_INPUT_THRESH 	0.01f 	// max manual roll input from user which does not change the locked heading
+#define HDG_HOLD_MAN_INPUT_THRESH 	0.01f 		// max manual roll input from user which does not change the locked heading
+#define TAKEOFF_IDLE				0.1f 		// idle speed for POSCTRL/ATTCTRL (when landed and throttle stick > 0)
 
 static constexpr float THROTTLE_THRESH = 0.05f; 	///< max throttle from user which will not lead to motors spinning up in altitude controlled modes
 static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH = 0.85f;	///< a throttle / pitch input above this value leads to the system switching to climbout mode
@@ -1606,8 +1607,17 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 		_att_sp.thrust = 0.0f;
 	} else {
 		/* Copy thrust and pitch values from tecs */
-		_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() :
-				_tecs.get_throttle_demand(), throttle_max);
+		if (_vehicle_status.condition_landed &&
+			(_control_mode_current == FW_POSCTRL_MODE_POSITION || _control_mode_current == FW_POSCTRL_MODE_ALTITUDE))
+		{
+			// when we are landed in these modes we want the motor to spin
+			_att_sp.thrust = math::min(TAKEOFF_IDLE, throttle_max);
+		} else {
+			_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() :
+					_tecs.get_throttle_demand(), throttle_max);
+		}
+
+
 	}
 
 	/* During a takeoff waypoint while waiting for launch the pitch sp is set