diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
index 7575409bbc..85af876cd1 100644
--- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
@@ -216,7 +216,7 @@ private:
 	float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have
 
 	float _hover_thrust{}; ///< Thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation
-	bool _decouple_horizontal_and_vertical_acceleration{false}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint
+	bool _decouple_horizontal_and_vertical_acceleration{true}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint
 
 	// States
 	matrix::Vector3f _pos; /**< current position */