diff --git a/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.cpp b/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.cpp
index 89c59f8d82..2915e5683e 100644
--- a/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.cpp
+++ b/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.cpp
@@ -43,6 +43,7 @@ void MulticopterThrowLaunch::update(const bool armed)
 	if (_param_com_throw_en.get()) {
 		if (_vehicle_local_position_sub.updated()) {
 			vehicle_local_position_s vehicle_local_position{};
+
 			if (_vehicle_local_position_sub.copy(&vehicle_local_position)) {
 				_last_velocity = matrix::Vector3f(vehicle_local_position.vx, vehicle_local_position.vy, vehicle_local_position.vz);
 			}
diff --git a/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.hpp b/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.hpp
index 973ce3c023..cfcfe3fea3 100644
--- a/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.hpp
+++ b/src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.hpp
@@ -56,9 +56,10 @@ public:
 	/**
 	 * @return false if feature disabled or already flying
 	 */
-	bool isThrowLaunchInProgress() const {
+	bool isThrowLaunchInProgress() const
+	{
 		return _throw_launch_state != ThrowLaunchState::DISABLED
-			&& _throw_launch_state != ThrowLaunchState::FLYING;
+		       && _throw_launch_state != ThrowLaunchState::FLYING;
 	}
 
 	bool isReadyToThrow() const { return _throw_launch_state == ThrowLaunchState::ARMED; }
diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index abc389f082..a14a659549 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -466,10 +466,11 @@ void MulticopterPositionControl::Run()
 				_vehicle_constraints.speed_down = _param_mpc_z_vel_max_dn.get();
 			}
 
+			bool skip_takeoff = _param_com_throw_en.get();
 			// handle smooth takeoff
 			_takeoff.updateTakeoffState(_vehicle_control_mode.flag_armed, _vehicle_land_detected.landed,
 						    _vehicle_constraints.want_takeoff,
-						    _vehicle_constraints.speed_up, false, vehicle_local_position.timestamp_sample);
+						    _vehicle_constraints.speed_up, skip_takeoff, vehicle_local_position.timestamp_sample);
 
 			const bool not_taken_off             = (_takeoff.getTakeoffState() < TakeoffState::rampup);
 			const bool flying                    = (_takeoff.getTakeoffState() >= TakeoffState::flight);
diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.hpp b/src/modules/mc_pos_control/MulticopterPositionControl.hpp
index 97c4fd2169..9c815c60ed 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.hpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.hpp
@@ -148,6 +148,7 @@ private:
 
 		// Takeoff / Land
 		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */
+		(ParamBool<px4::params::COM_THROW_EN>)      _param_com_throw_en, /**< throw launch enabled  */
 		(ParamFloat<px4::params::MPC_TKO_RAMP_T>)   _param_mpc_tko_ramp_t,   /**< time constant for smooth takeoff ramp */
 		(ParamFloat<px4::params::MPC_TKO_SPEED>)    _param_mpc_tko_speed,
 		(ParamFloat<px4::params::MPC_LAND_SPEED>)   _param_mpc_land_speed,
diff --git a/src/modules/mc_pos_control/Takeoff/Takeoff.cpp b/src/modules/mc_pos_control/Takeoff/Takeoff.cpp
index 01278bc002..2e4fbc1f40 100644
--- a/src/modules/mc_pos_control/Takeoff/Takeoff.cpp
+++ b/src/modules/mc_pos_control/Takeoff/Takeoff.cpp
@@ -74,9 +74,6 @@ void TakeoffHandling::updateTakeoffState(const bool armed, const bool landed, co
 			_takeoff_state = TakeoffState::rampup;
 			_takeoff_ramp_progress = 0.f;
 
-		} else if (!landed) {
-			_takeoff_state = TakeoffState::flight;
-
 		} else {
 			break;
 		}
@@ -106,6 +103,7 @@ void TakeoffHandling::updateTakeoffState(const bool armed, const bool landed, co
 		_takeoff_state = TakeoffState::flight;
 	}
 
+	// TODO: need to consider free fall here
 	if (!armed) {
 		_takeoff_state = TakeoffState::disarmed;
 	}
diff --git a/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp b/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp
index 5b1086c963..d718ef687b 100644
--- a/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp
+++ b/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp
@@ -53,15 +53,15 @@ TEST(TakeoffTest, RegularTakeoffRamp)
 	takeoff.updateTakeoffState(false, true, false, 1.f, false, 0);
 	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::disarmed);
 
-	// armed, landed, don't want takeoff
-	takeoff.updateTakeoffState(true, true, false, 1.f, false, 500_ms);
+	// armed, not landed anymore, don't want takeoff
+	takeoff.updateTakeoffState(true, false, false, 1.f, false, 500_ms);
 	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::spoolup);
 
-	// armed, landed, don't want takeoff yet, spoolup time passed
-	takeoff.updateTakeoffState(true, true, false, 1.f, false, 2_s);
+	// armed, not landed, don't want takeoff yet, spoolup time passed
+	takeoff.updateTakeoffState(true, false, false, 1.f, false, 2_s);
 	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::ready_for_takeoff);
 
-	// armed, not landed anymore, want takeoff
+	// armed, not landed, want takeoff
 	takeoff.updateTakeoffState(true, false, true, 1.f, false, 3_s);
 	EXPECT_EQ(takeoff.getTakeoffState(), TakeoffState::rampup);