diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index 58704e0fc..b888c0476 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -860,15 +860,16 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
         // After not being in this mode for a while init at current height
         AltHoldSmoothedData altHold;
         AltHoldSmoothedGet(&altHold);
+        altitudeHoldDesiredData.Velocity = 0;
         altitudeHoldDesiredData.Altitude = altHold.Altitude;
         zeroed = false;
     } else if (cmd->Throttle > DEADBAND_HIGH && zeroed) {
         // being the two band symmetrical I can divide by DEADBAND_LOW to scale it to a value betweeon 0 and 1
         // then apply an "exp" f(x,k) = (k*x*x*x + (255-k)*x) / 255
-        altitudeHoldDesiredData.Velocity = (throttleExp * powf((cmd->Throttle - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (255 - throttleExp) * (cmd->Throttle - DEADBAND_HIGH) / DEADBAND_LOW) / 255 * throttleRate;
+        altitudeHoldDesiredData.Velocity  = (throttleExp * powf((cmd->Throttle - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (255 - throttleExp) * (cmd->Throttle - DEADBAND_HIGH) / DEADBAND_LOW) / 255 * throttleRate;
         altitudeHoldDesiredData.Altitude += altitudeHoldDesiredData.Velocity * dT;
     } else if (cmd->Throttle < DEADBAND_LOW && zeroed) {
-        altitudeHoldDesiredData.Velocity = -(throttleExp * powf((DEADBAND_LOW - (cmd->Throttle < 0 ? 0 : cmd->Throttle)) / DEADBAND_LOW, 3) + (255 - throttleExp) * (DEADBAND_LOW - cmd->Throttle) / DEADBAND_LOW) / 255 * throttleRate;
+        altitudeHoldDesiredData.Velocity  = -(throttleExp * powf((DEADBAND_LOW - (cmd->Throttle < 0 ? 0 : cmd->Throttle)) / DEADBAND_LOW, 3) + (255 - throttleExp) * (DEADBAND_LOW - cmd->Throttle) / DEADBAND_LOW) / 255 * throttleRate;
         altitudeHoldDesiredData.Altitude += altitudeHoldDesiredData.Velocity * dT;
     } else if (cmd->Throttle >= DEADBAND_LOW && cmd->Throttle <= DEADBAND_HIGH && (throttleRate != 0)) {
         // Require the stick to enter the dead band before they can move height