diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index ad69805e78..2f7c955285 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -301,9 +301,9 @@ bool VtolType::isFrontTransitionAltitudeLoss()
 {
 	bool result = false;
 
-	// only run if param set, altitude estimate valid and in transition to FW or within 5s of finishing it.
-	if (_param_vt_qc_t_alt_loss.get() > FLT_EPSILON && _local_pos->z_valid && (_common_vtol_mode == mode::TRANSITION_TO_FW
-			|| hrt_elapsed_time(&_trans_finished_ts) < 5_s)) {
+	// only run if param set, altitude valid and controlled, and in transition to FW or within 5s of finishing it.
+	if (_param_vt_qc_t_alt_loss.get() > FLT_EPSILON && _local_pos->z_valid && _v_control_mode->flag_control_altitude_enabled
+	    && (_common_vtol_mode == mode::TRANSITION_TO_FW || hrt_elapsed_time(&_trans_finished_ts) < 5_s)) {
 
 		result = _local_pos->z - _local_position_z_start_of_transition > _param_vt_qc_t_alt_loss.get();
 	}