diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index a42e7d066c..9bea8e8c76 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -325,9 +325,6 @@ VtolAttitudeControl::vehicle_cmd_poll() {
 
 	if (updated) {
 		orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_cmd);
-		if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
-			orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_transition_cmd);
-		}
 	}
 }
 
@@ -505,9 +502,25 @@ void VtolAttitudeControl::task_main()
 		vehicle_battery_poll();
 		vehicle_cmd_poll();
 
+		// update transition command if necessary
+		if (_vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
+			orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub , &_vehicle_transition_cmd);
+		}
+
 		// update the vtol state machine which decides which mode we are in
 		_vtol_type->update_vtol_state();
 
+		// reset transition command if not in offboard control
+		if (!_v_control_mode.flag_control_offboard_enabled)
+		{
+			if (_vtol_type->get_mode() == ROTARY_WING) {
+				_vehicle_transition_cmd.param1 = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
+			}
+			else if (_vtol_type->get_mode() == FIXED_WING) {
+				_vehicle_transition_cmd.param1 = vehicle_status_s::VEHICLE_VTOL_STATE_FW;
+			}
+		}
+
 		// check in which mode we are in and call mode specific functions
 		if (_vtol_type->get_mode() == ROTARY_WING) {
 			// vehicle is in rotary wing mode
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index c7d4047b4e..3933963835 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -99,6 +99,7 @@ public:
 	~VtolAttitudeControl();
 
 	int start();	/* start the task and return OK on success */
+	bool is_fixed_wing_requested();
 
 	struct vehicle_attitude_s* 			get_att () {return &_v_att;}
 	struct vehicle_attitude_setpoint_s* get_att_sp () {return &_v_att_sp;}
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 0f43b6e453..1c10c29d97 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -134,8 +134,8 @@ void VtolType::set_idle_fw()
 }
 
 /*
- * Return true if fixed-wing mode is requested.
- * Either via switch or via command.
+ * Returns true if fixed-wing mode is requested.
+ * Changed either via switch or via command.
  */
 bool VtolType::is_fixed_wing_requested()
 {