diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index 63a8192f86..21564e9b6e 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -123,9 +123,12 @@ void Tiltrotor::update_vtol_state()
 			break;
 
 		case vtol_mode::TRANSITION_BACK:
-			float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
+			const float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
+			const float ground_speed = sqrtf(_local_pos->vx * _local_pos->vx + _local_pos->vy * _local_pos->vy);
+			const bool ground_speed_below_cruise = _local_pos->v_xy_valid && (ground_speed <= _params->mpc_xy_cruise);
 
-			if (_tilt_control <= _params_tiltrotor.tilt_mc && time_since_trans_start > _params->back_trans_duration) {
+			if (_tilt_control <= _params_tiltrotor.tilt_mc && (time_since_trans_start > _params->back_trans_duration
+					|| ground_speed_below_cruise)) {
 				_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
 			}