diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index b5c96a1619..f6407420a3 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -430,7 +430,10 @@ void Plane::update_control_mode(void)
     // ensure we are fly-forward when we are flying as a pure fixed
     // wing aircraft. This helps the EKF produce better state
     // estimates as it can make stronger assumptions
-    if (quadplane.in_vtol_mode() ||
+    if (quadplane.available() &&
+        quadplane.tailsitter.is_in_fw_flight()) {
+        ahrs.set_fly_forward(true);
+    } else if (quadplane.in_vtol_mode() ||
         quadplane.in_assisted_flight()) {
         ahrs.set_fly_forward(false);
     } else if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {