diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index ba4b373182..2a7cda3f57 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -225,8 +225,11 @@ void Tailsitter::update_transition_state()
 	_q_trans_sp.normalize();
 
 	// tilt angle (zero if vehicle nose points up (hover))
-	const float tilt = acosf(_q_trans_sp(0) * _q_trans_sp(0) - _q_trans_sp(1) * _q_trans_sp(1) - _q_trans_sp(2) *
-				 _q_trans_sp(2) + _q_trans_sp(3) * _q_trans_sp(3));
+	float cos_tilt = _q_trans_sp(0) * _q_trans_sp(0) - _q_trans_sp(1) * _q_trans_sp(1) - _q_trans_sp(2) *
+			 _q_trans_sp(2) + _q_trans_sp(3) * _q_trans_sp(3);
+	cos_tilt = cos_tilt >  1.0f ?  1.0f : cos_tilt;
+	cos_tilt = cos_tilt < -1.0f ? -1.0f : cos_tilt;
+	const float tilt = acosf(cos_tilt);
 
 	if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
 
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index dd4d8cb6e2..0cf205742f 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -424,7 +424,7 @@ VtolAttitudeControl::Run()
 
 			_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);
 
-			if (mc_att_sp_updated || fw_att_sp_updated) {
+			if (!_vtol_type->was_in_trans_mode() || mc_att_sp_updated || fw_att_sp_updated) {
 				_vtol_type->update_transition_state();
 				_v_att_sp_pub.publish(_v_att_sp);
 			}
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index 68c5a89cb6..0230efc5c1 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -190,6 +190,8 @@ public:
 
 	mode get_mode() {return _vtol_mode;}
 
+	bool was_in_trans_mode() {return _flag_was_in_trans_mode;}
+
 	virtual void parameters_update() = 0;
 
 protected: