diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index a8eb5a50e9..3b6dd8d7a2 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -222,6 +222,12 @@ bool VtolType::can_transition_on_ground()
 void VtolType::check_quadchute_condition()
 {
 
+	if (!_tecs_running) {
+		// reset the filtered height rate and heigh rate setpoint if TECS is not running
+		_ra_hrate = 0.0f;
+		_ra_hrate_sp = 0.0f;
+	}
+
 	if (_v_control_mode->flag_armed && !_land_detected->landed) {
 		Eulerf euler = Quatf(_v_att->q);