diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
index b0ffe8378b15600599146be5f7c46223e8a07039..958b8b57c2acaf5111a5add823705720210a307f 100644
--- a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
@@ -49,10 +49,12 @@ bool FlightTaskManualPositionSmoothVel::activate()
 
 void FlightTaskManualPositionSmoothVel::reActivate()
 {
-	reset(Axes::XY);
+	// The task is reacivated while the vehicle is on the ground. To detect takeoff in mc_pos_control_main properly
+	// using the generated jerk, reset the z derivatives to zero
+	reset(Axes::XYZ, true);
 }
 
-void FlightTaskManualPositionSmoothVel::reset(Axes axes)
+void FlightTaskManualPositionSmoothVel::reset(Axes axes, bool force_z_zero)
 {
 	int count;
 
@@ -75,6 +77,11 @@ void FlightTaskManualPositionSmoothVel::reset(Axes axes)
 		_smoothing[i].reset(0.f, _velocity(i), _position(i));
 	}
 
+	// Set the z derivatives to zero
+	if (force_z_zero) {
+		_smoothing[2].reset(0.f, 0.f, _position(2));
+	}
+
 	_position_lock_xy_active = false;
 	_position_lock_z_active = false;
 	_position_setpoint_xy_locked(0) = NAN;
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
index 350bc580c8d31156f7e2c21b48fbb1cc73438dfa..038d9ddd8581487cef6584774f0b5f9716bdcd06 100644
--- a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
+++ b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
@@ -65,7 +65,12 @@ protected:
 private:
 
 	enum class Axes {XY, XYZ};
-	void reset(Axes axes);
+
+	/**
+	 * Reset the required axes. when force_z_zero is set to true, the z derivatives are set to sero and not to the estimated states
+	 */
+	void reset(Axes axes, bool force_z_zero = false);
+
 	VelocitySmoothing _smoothing[3]; ///< Smoothing in x, y and z directions
 	matrix::Vector3f _vel_sp_smooth;
 	bool _position_lock_xy_active{false};
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 237f3d53bd44582cab1410c6b1635977c73c0a5e..421ad9600150a38d92f56b6b46665f76df4d17cd 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -243,7 +243,7 @@ private:
 	 * @param velocity setpoint_z the velocity setpoint in the z-Direction
 	 */
 	void check_for_smooth_takeoff(const float &position_setpoint_z, const float &velocity_setpoint_z,
-				      const vehicle_constraints_s &constraints);
+				      const float &jerk_sp, const vehicle_constraints_s &constraints);
 
 	/**
 	 * Check if smooth takeoff has ended and updates accordingly.
@@ -702,7 +702,7 @@ MulticopterPositionControl::run()
 
 			// do smooth takeoff after delay if there's a valid vertical velocity or position
 			if (_spoolup_time_hysteresis.get_state() && PX4_ISFINITE(_states.position(2)) && PX4_ISFINITE(_states.velocity(2))) {
-				check_for_smooth_takeoff(setpoint.z, setpoint.vz, constraints);
+				check_for_smooth_takeoff(setpoint.z, setpoint.vz, setpoint.jerk_z, constraints);
 				update_smooth_takeoff(setpoint.z, setpoint.vz);
 			}
 
@@ -760,7 +760,6 @@ MulticopterPositionControl::run()
 			// Generate desired thrust and yaw.
 			_control.generateThrustYawSetpoint(_dt);
 
-
 			// Fill local position, velocity and thrust setpoint.
 			// This message contains setpoints where each type of setpoint is either the input to the PositionController
 			// or was generated by the PositionController and therefore corresponds to the PositioControl internal states (states that were generated by P-PID).
@@ -1034,7 +1033,7 @@ MulticopterPositionControl::start_flight_task()
 
 void
 MulticopterPositionControl::check_for_smooth_takeoff(const float &z_sp, const float &vz_sp,
-		const vehicle_constraints_s &constraints)
+		const float &jerk_sp, const vehicle_constraints_s &constraints)
 {
 	// Check for smooth takeoff
 	if (_vehicle_land_detected.landed && !_in_smooth_takeoff) {
@@ -1047,6 +1046,8 @@ MulticopterPositionControl::check_for_smooth_takeoff(const float &z_sp, const fl
 
 		// takeoff was initiated through velocity setpoint
 		_smooth_velocity_takeoff = PX4_ISFINITE(vz_sp) && vz_sp < -0.1f;
+		bool jerk_triggered_takeoff = PX4_ISFINITE(jerk_sp) && jerk_sp < -FLT_EPSILON;
+		_smooth_velocity_takeoff |= jerk_triggered_takeoff;
 
 		if ((PX4_ISFINITE(z_sp) && z_sp < _states.position(2) - min_altitude) ||  _smooth_velocity_takeoff) {
 			// There is a position setpoint above current position or velocity setpoint larger than