diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
index 8b79e1ee4d..f850e6e22a 100644
--- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
@@ -512,25 +512,27 @@ float FixedwingPositionControl::getCorrectedNpfgRollSetpoint()
 	float new_roll_setpoint(_npfg.getRollSetpoint());
 	const float can_run_factor(constrain(_npfg.canRun(_local_pos, _wind_valid), 0.f, 1.f));
 
-	// If the npfg was not running before, reset the user warning variables.
 	hrt_abstime now{hrt_absolute_time()};
 
-	if ((now - _time_since_last_npfg_call) > 2_s) {
+	// Warn the user when the scale is less than 90% for at least 2 seconds (disable in transition)
+
+	// If the npfg was not running before, reset the user warning variables.
+	if ((now - _time_since_last_npfg_call) > ROLL_WARNING_TIMEOUT) {
 		_need_report_npfg_uncertain_condition = true;
 		_time_since_first_reduced_roll = 0U;
 	}
 
-	// Warn the user when the scale is less than 90% for at least 2 seconds.
-	if ((1.f - can_run_factor) < 0.1f) {
+	if (_vehicle_status.in_transition_mode || can_run_factor > ROLL_WARNING_CAN_RUN_THRESHOLD) {
+		// NPFG reports a good condition or we are in transition, reset the user warning variables.
 		_need_report_npfg_uncertain_condition = true;
 		_time_since_first_reduced_roll = 0U;
 
 	} else if (_need_report_npfg_uncertain_condition) {
 		if (_time_since_first_reduced_roll == 0U) {
-			_time_since_first_reduced_roll = hrt_absolute_time();
+			_time_since_first_reduced_roll = now;
 		}
 
-		if ((now - _time_since_first_reduced_roll) > 2_s) {
+		if ((now - _time_since_first_reduced_roll) > ROLL_WARNING_TIMEOUT) {
 			_need_report_npfg_uncertain_condition = false;
 			events::send(events::ID("npfg_roll_command_uncertain"), events::Log::Warning,
 				     "Roll command reduced due to uncertain velocity/wind estimates!");
diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp
index 43887707c8..277ba35fbf 100644
--- a/src/modules/fw_pos_control/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control/FixedwingPositionControl.hpp
@@ -169,6 +169,13 @@ static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
 // [m/s] maximum reference altitude rate threshhold
 static constexpr float MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT = 0.1f;
 
+// [s] Timeout that has to pass in roll-constraining failsafe before warning is triggered
+static constexpr uint64_t ROLL_WARNING_TIMEOUT = 2_s;
+
+// [-] Can-run threshold needed to trigger the roll-constraining failsafe warning
+static constexpr float ROLL_WARNING_CAN_RUN_THRESHOLD = 0.9f;
+
+
 class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
 	public px4::WorkItem
 {