diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index bc9a8e3853..f067b6b0c8 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1546,7 +1546,8 @@ void SLT_Transition::update()
         quadplane.assisted_flight = true;
         // update transition state for vehicles using airspeed wait
         if (!in_forced_transition) {
-            if (transition_state != TRANSITION_AIRSPEED_WAIT) {
+            const bool show_message = transition_state != TRANSITION_AIRSPEED_WAIT || transition_start_ms == 0;
+            if (show_message) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Transition started airspeed %.1f", (double)aspeed);
             }
             transition_state = TRANSITION_AIRSPEED_WAIT;