diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index df62b63ae1..7c7c4d4202 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -115,6 +115,7 @@ void Tailsitter::update_vtol_state()
 
 				if (isFrontTransitionCompleted()) {
 					_vtol_mode = vtol_mode::FW_MODE;
+					_trans_finished_ts = hrt_absolute_time();
 				}
 
 				break;
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index 0285e61ea6..3be203dd59 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -134,6 +134,7 @@ void Tiltrotor::update_vtol_state()
 		case vtol_mode::TRANSITION_FRONT_P1: {
 				if (isFrontTransitionCompleted()) {
 					_vtol_mode = vtol_mode::TRANSITION_FRONT_P2;
+					_trans_finished_ts = hrt_absolute_time();
 					resetTransitionStates();
 				}