diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 518116fa1d..fe58476821 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1032,12 +1032,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 //						warnx("Launch detection running");
 						mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running");
 						last_sent = hrt_absolute_time();
-						/* Tell the attitude controller to stop integrating while we are
-						 * waiting for the launch */
-						_att_sp.roll_reset_integral = true;
-						_att_sp.pitch_reset_integral = true;
-						_att_sp.yaw_reset_integral = true;
 					}
+
+					/* Tell the attitude controller to stop integrating while we are waiting
+					 * for the launch */
+					_att_sp.roll_reset_integral = true;
+					_att_sp.pitch_reset_integral = true;
+					_att_sp.yaw_reset_integral = true;
+
+					/* Detect launch */
 					launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
 					if (launchDetector.getLaunchDetected()) {
 						launch_detected = true;