diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc
index f9a6d8a992..1000e21363 100644
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@@ -25,8 +25,6 @@ then
 
 	param set COM_DISARM_LAND 3
 
-	param set LNDMC_MAN_DWNTHR 0.2500
-	param set LNDMC_POS_UPTHR 0.5500
 	param set LNDMC_Z_VEL_MAX 2.0000
 
 	param set MC_ROLL_P 8.0000
diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp
index 7419e53eec..3e1681965a 100644
--- a/src/modules/land_detector/MulticopterLandDetector.cpp
+++ b/src/modules/land_detector/MulticopterLandDetector.cpp
@@ -79,7 +79,6 @@ MulticopterLandDetector::MulticopterLandDetector() :
 	_actuatorsSub(-1),
 	_armingSub(-1),
 	_attitudeSub(-1),
-	_manualSub(-1),
 	_sensor_bias_sub(-1),
 	_vehicle_control_mode_sub(-1),
 	_battery_sub(-1),
@@ -88,7 +87,6 @@ MulticopterLandDetector::MulticopterLandDetector() :
 	_actuators{},
 	_arming{},
 	_vehicleAttitude{},
-	_manual{},
 	_sensors{},
 	_control_mode{},
 	_battery{},
@@ -104,9 +102,7 @@ MulticopterLandDetector::MulticopterLandDetector() :
 	_paramHandle.minManThrottle = param_find("MPC_MANTHR_MIN");
 	_paramHandle.freefall_acc_threshold = param_find("LNDMC_FFALL_THR");
 	_paramHandle.freefall_trigger_time = param_find("LNDMC_FFALL_TTRI");
-	_paramHandle.manual_stick_down_threshold = param_find("LNDMC_MAN_DWNTHR");
 	_paramHandle.altitude_max = param_find("LNDMC_ALT_MAX");
-	_paramHandle.manual_stick_up_position_takeoff_threshold = param_find("LNDMC_POS_UPTHR");
 	_paramHandle.landSpeed = param_find("MPC_LAND_SPEED");
 
 	// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
@@ -124,7 +120,6 @@ void MulticopterLandDetector::_initialize_topics()
 	_actuatorsSub = orb_subscribe(ORB_ID(actuator_controls_0));
 	_armingSub = orb_subscribe(ORB_ID(actuator_armed));
 	_parameterSub = orb_subscribe(ORB_ID(parameter_update));
-	_manualSub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	_sensor_bias_sub = orb_subscribe(ORB_ID(sensor_bias));
 	_vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
 	_battery_sub = orb_subscribe(ORB_ID(battery_status));
@@ -137,7 +132,6 @@ void MulticopterLandDetector::_update_topics()
 	_orb_update(ORB_ID(vehicle_attitude), _attitudeSub, &_vehicleAttitude);
 	_orb_update(ORB_ID(actuator_controls_0), _actuatorsSub, &_actuators);
 	_orb_update(ORB_ID(actuator_armed), _armingSub, &_arming);
-	_orb_update(ORB_ID(manual_control_setpoint), _manualSub, &_manual);
 	_orb_update(ORB_ID(sensor_bias), _sensor_bias_sub, &_sensors);
 	_orb_update(ORB_ID(vehicle_control_mode), _vehicle_control_mode_sub, &_control_mode);
 	_orb_update(ORB_ID(battery_status), _battery_sub, &_battery);
@@ -156,9 +150,7 @@ void MulticopterLandDetector::_update_params()
 	param_get(_paramHandle.freefall_acc_threshold, &_params.freefall_acc_threshold);
 	param_get(_paramHandle.freefall_trigger_time, &_params.freefall_trigger_time);
 	_freefall_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _params.freefall_trigger_time));
-	param_get(_paramHandle.manual_stick_down_threshold, &_params.manual_stick_down_threshold);
 	param_get(_paramHandle.altitude_max, &_params.altitude_max);
-	param_get(_paramHandle.manual_stick_up_position_takeoff_threshold, &_params.manual_stick_up_position_takeoff_threshold);
 	param_get(_paramHandle.landSpeed, &_params.landSpeed);
 }
 
@@ -190,13 +182,6 @@ bool MulticopterLandDetector::_get_ground_contact_state()
 		return true;
 	}
 
-	// If in manual flight mode never report landed if the user has more than idle throttle
-	// Check if user commands throttle and if so, report no ground contact based on
-	// the user intent to take off (even if the system might physically still have
-	// ground contact at this point).
-	const bool manual_control_idle = (_has_manual_control_present() && _manual.z < _params.manual_stick_down_threshold);
-	const bool manual_control_idle_or_auto = manual_control_idle || !_control_mode.flag_control_manual_enabled;
-
 	// land speed threshold
 	float land_speed_threshold = 0.9f * math::max(_params.landSpeed, 0.1f);
 
@@ -229,9 +214,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
 			  && (_vehicleLocalPositionSetpoint.vz >= land_speed_threshold);
 	bool hit_ground = in_descend && !verticalMovement;
 
-	// If pilots commands down or in auto mode and we are already below minimal thrust and we do not move down we assume ground contact
 	// TODO: we need an accelerometer based check for vertical movement for flying without GPS
-	if (manual_control_idle_or_auto && (_has_low_thrust() || hit_ground) && (!horizontalMovement || !_has_position_lock())
+	if ((_has_low_thrust() || hit_ground) && (!horizontalMovement || !_has_position_lock())
 	    && (!verticalMovement || !_has_altitude_lock())) {
 		return true;
 	}
@@ -249,18 +233,6 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
 		return true;
 	}
 
-	// If we control manually and are still landed, we want to stay idle until the pilot rises the throttle for takeoff
-	if (_state == LandDetectionState::LANDED && _has_manual_control_present()) {
-		if (_manual.z < _get_takeoff_throttle()) {
-			return true;
-
-		} else {
-			// Pilot wants to take off, assume no groundcontact anymore and therefore allow thrust
-			_ground_contact_hysteresis.set_state_and_update(false);
-			return false;
-		}
-	}
-
 	if (_has_minimal_thrust()) {
 		if (_min_trust_start == 0) {
 			_min_trust_start = now;
@@ -321,26 +293,6 @@ bool MulticopterLandDetector::_get_landed_state()
 
 }
 
-float MulticopterLandDetector::_get_takeoff_throttle()
-{
-	/* Position mode */
-	if (_control_mode.flag_control_manual_enabled && _control_mode.flag_control_altitude_enabled) {
-		/* Should be above 0.5 because below that we do not gain altitude and won't take off.
-		 * Also it should be quite high such that we don't accidentally take off when using
-		 * a spring loaded throttle and have a useful vertical speed to start with. */
-		return _params.manual_stick_up_position_takeoff_threshold;
-	}
-
-	/* Manual/attitude mode */
-	if (_control_mode.flag_control_manual_enabled && _control_mode.flag_control_attitude_enabled) {
-		/* Should be quite low and certainly below hover throttle because pilot controls throttle manually. */
-		return 0.15f;
-	}
-
-	/* As default for example in acro mode we do not want to stay landed. */
-	return 0.0f;
-}
-
 float MulticopterLandDetector::_get_max_altitude()
 {
 	/* ToDo: add a meaningful altitude */
@@ -373,11 +325,6 @@ bool MulticopterLandDetector::_has_position_lock()
 	return _has_altitude_lock() && _vehicleLocalPosition.xy_valid;
 }
 
-bool MulticopterLandDetector::_has_manual_control_present()
-{
-	return _control_mode.flag_control_manual_enabled && _manual.timestamp > 0;
-}
-
 bool MulticopterLandDetector::_is_climb_rate_enabled()
 {
 	bool has_updated = (_vehicleLocalPositionSetpoint.timestamp != 0)
diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h
index 22a9bfa976..de0b1090b7 100644
--- a/src/modules/land_detector/MulticopterLandDetector.h
+++ b/src/modules/land_detector/MulticopterLandDetector.h
@@ -52,7 +52,6 @@
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/battery_status.h>
-#include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_bias.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -110,9 +109,7 @@ private:
 		param_t minManThrottle;
 		param_t freefall_acc_threshold;
 		param_t freefall_trigger_time;
-		param_t manual_stick_down_threshold;
 		param_t altitude_max;
-		param_t manual_stick_up_position_takeoff_threshold;
 		param_t landSpeed;
 	} _paramHandle;
 
@@ -126,9 +123,7 @@ private:
 		float minManThrottle;
 		float freefall_acc_threshold;
 		float freefall_trigger_time;
-		float manual_stick_down_threshold;
 		float altitude_max;
-		float manual_stick_up_position_takeoff_threshold;
 		float landSpeed;
 	} _params;
 
@@ -137,7 +132,6 @@ private:
 	int _actuatorsSub;
 	int _armingSub;
 	int _attitudeSub;
-	int _manualSub;
 	int _sensor_bias_sub;
 	int _vehicle_control_mode_sub;
 	int _battery_sub;
@@ -147,7 +141,6 @@ private:
 	struct actuator_controls_s					_actuators;
 	struct actuator_armed_s						_arming;
 	struct vehicle_attitude_s					_vehicleAttitude;
-	struct manual_control_setpoint_s			_manual;
 	struct sensor_bias_s					_sensors;
 	struct vehicle_control_mode_s				_control_mode;
 	struct battery_status_s						_battery;
@@ -159,7 +152,6 @@ private:
 	float _get_takeoff_throttle();
 	bool _has_altitude_lock();
 	bool _has_position_lock();
-	bool _has_manual_control_present();
 	bool _has_minimal_thrust();
 	bool _has_low_thrust();
 	bool _is_climb_rate_enabled();
diff --git a/src/modules/land_detector/land_detector_params.c b/src/modules/land_detector/land_detector_params.c
index 15fb41a51d..0ebffb9023 100644
--- a/src/modules/land_detector/land_detector_params.c
+++ b/src/modules/land_detector/land_detector_params.c
@@ -119,37 +119,6 @@ PARAM_DEFINE_FLOAT(LNDMC_THR_RANGE, 0.1f);
  */
 PARAM_DEFINE_FLOAT(LNDMC_FFALL_TTRI, 0.3);
 
-/**
- * Manual flight stick down threshold for landing
- *
- * When controlling manually the throttle stick value (0 to 1)
- * has to be bellow this threshold in order to pass the check for landing.
- * So if set to 1 it's allowed to land with any stick position.
- *
- * @min 0
- * @max 1
- * @unit norm
- * @decimal 2
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDMC_MAN_DWNTHR, 0.15f);
-
-/**
- * Manual position flight stick up threshold for taking off
- *
- * When controlling manually in position mode the throttle stick value (0 to 1)
- * has to get above this threshold after arming in order to take off.
- *
- * @min 0
- * @max 1
- * @unit norm
- * @decimal 2
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDMC_POS_UPTHR, 0.65f);
-
 /**
  * Fixedwing max horizontal velocity
  *
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index cd38d035b7..e0a1e71c36 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -128,7 +128,7 @@ private:
 	bool		 _reset_yaw_sp = true; 				/**<true if reset yaw setpoint */
 	bool 		_hold_offboard_xy = false; 			/**<TODO : check if we need this extra hold_offboard flag */
 	bool 		_hold_offboard_z = false;
-	bool 		_in_takeoff = false; 				/**<true if takeoff ramp is applied */
+	bool 		_in_smooth_takeoff = false; 				/**<true if takeoff ramp is applied */
 	bool 		_in_landing = false;				/**<true if landing descent (only used in auto) */
 	bool 		_lnd_reached_ground = false; 		/**<true if controller assumes the vehicle has reached the ground after landing */
 	bool 		_triplet_lat_lon_finite = true; 		/**<true if triplets current is non-finite */
@@ -385,6 +385,8 @@ private:
 
 	void warn_rate_limited(const char *str);
 
+	bool manual_wants_takeoff();
+
 	/**
 	 * Shim for calling task_main from task_create.
 	 */
@@ -1462,15 +1464,7 @@ MulticopterPositionControl::control_manual(float dt)
 		_vel_sp(1) = man_vel_sp(1);
 	}
 
-	if (_vehicle_land_detected.landed) {
-		/* don't run controller when landed
-		 * NOTE:
-		 * This only works in manual since once we give throttle input, the
-		 * landdetector will exit the landing state */
-
-	} else {
-		control_position(dt);
-	}
+	control_position(dt);
 }
 
 void
@@ -2487,8 +2481,8 @@ MulticopterPositionControl::calculate_velocity_setpoint(float dt)
 	_vel_sp_prev = _vel_sp;
 
 	/* special velocity setpoint limitation for smooth takeoff (after slewrate!) */
-	if (_in_takeoff) {
-		_in_takeoff = _takeoff_vel_limit < -_vel_sp(2);
+	if (_in_smooth_takeoff) {
+		_in_smooth_takeoff = _takeoff_vel_limit < -_vel_sp(2);
 		/* ramp vertical velocity limit up to takeoff speed */
 		_takeoff_vel_limit += -_vel_sp(2) * dt / _takeoff_ramp_time.get();
 		/* limit vertical velocity to the current ramp value */
@@ -2557,7 +2551,7 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
 		thrust_sp(1) = 0.0f;
 	}
 
-	if (!in_auto_takeoff()) {
+	if (!in_auto_takeoff() && !manual_wants_takeoff()) {
 		if (_vehicle_land_detected.ground_contact) {
 			/* if still or already on ground command zero xy thrust_sp in body
 			 * frame to consider uneven ground */
@@ -2606,7 +2600,7 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
 	// We can only run the control if we're already in-air, have a takeoff setpoint,
 	// or if we're in offboard control.
 	// Otherwise, we should just bail out
-	if (_vehicle_land_detected.landed && !in_auto_takeoff()) {
+	if (_vehicle_land_detected.landed && !in_auto_takeoff() && !manual_wants_takeoff()) {
 		// Keep throttle low while still on ground.
 		thr_max = 0.0f;
 
@@ -2966,6 +2960,16 @@ MulticopterPositionControl::generate_attitude_setpoint(float dt)
 	_att_sp.timestamp = hrt_absolute_time();
 }
 
+bool MulticopterPositionControl::manual_wants_takeoff()
+{
+	const bool has_manual_control_present = _control_mode.flag_control_manual_enabled && _manual.timestamp > 0;
+
+	// If the throttle stick is well above 50%, so above 62.5% (50% + 0.15 * 50%) we trigger manual takeoff.
+	const bool manual_wants_takeoff = (has_manual_control_present && _manual.z > 0.15f);
+
+	return manual_wants_takeoff;
+}
+
 void
 MulticopterPositionControl::task_main()
 {
@@ -3048,7 +3052,6 @@ MulticopterPositionControl::task_main()
 			_reset_yaw_sp = true;
 			_hold_offboard_xy = false;
 			_hold_offboard_z = false;
-			_in_takeoff  = false;
 			_in_landing = false;
 			_lnd_reached_ground = false;
 
@@ -3073,12 +3076,19 @@ MulticopterPositionControl::task_main()
 			_vel_sp_prev = _vel;
 		}
 
-		/* switch to smooth takeoff if we got out of landed state */
-		if (!_vehicle_land_detected.landed && was_landed) {
-			_in_takeoff = true;
+		if (!_in_smooth_takeoff && _vehicle_land_detected.landed && _control_mode.flag_armed &&
+		    (in_auto_takeoff() || manual_wants_takeoff())) {
+			_in_smooth_takeoff = true;
+			// This ramp starts negative and goes to positive later because we want to
+			// be as smooth as possible. If we start at 0, we alrady jump to hover throttle.
 			_takeoff_vel_limit = -0.5f;
 		}
 
+		else if (!_control_mode.flag_armed) {
+			// If we're disarmed and for some reason were in a smooth takeoff, we reset that.
+			_in_smooth_takeoff = false;
+		}
+
 		/* set triplets to invalid if we just landed */
 		if (_vehicle_land_detected.landed && !was_landed) {
 			_pos_sp_triplet.current.valid = false;