diff --git a/src/modules/fw_rate_control/fw_trim/FwTrim.cpp b/src/modules/fw_rate_control/fw_trim/FwTrim.cpp
index 1709e06889..124b238555 100644
--- a/src/modules/fw_rate_control/fw_trim/FwTrim.cpp
+++ b/src/modules/fw_rate_control/fw_trim/FwTrim.cpp
@@ -95,6 +95,17 @@ void FwTrim::updateAutoTrim(const Vector3f &torque_sp, const float dt)
 	_auto_trim.update(torque_sp - _parameterized_trim, dt);
 }
 
+Vector3f FwTrim::getTrim() const
+{
+	Vector3f trim = _parameterized_trim;
+
+	if (_param_fw_atrim_mode.get() > 0) {
+		trim +=  _auto_trim.getTrim();
+	}
+
+	return trim;
+}
+
 void FwTrim::setAirspeed(const float airspeed)
 {
 	_airspeed = airspeed;
diff --git a/src/modules/fw_rate_control/fw_trim/FwTrim.hpp b/src/modules/fw_rate_control/fw_trim/FwTrim.hpp
index a81dfd6898..67a620c945 100644
--- a/src/modules/fw_rate_control/fw_trim/FwTrim.hpp
+++ b/src/modules/fw_rate_control/fw_trim/FwTrim.hpp
@@ -55,7 +55,7 @@ public:
 	void reset();
 	void setAirspeed(float airspeed);
 	void updateAutoTrim(const matrix::Vector3f &torque_sp, float dt);
-	matrix::Vector3f getTrim() const { return _parameterized_trim + _auto_trim.getTrim(); }
+	matrix::Vector3f getTrim() const;
 	int print_status();
 
 protected: