diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 213af56c25..84f7439a58 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1466,7 +1466,7 @@ MulticopterPositionControl::task_main()
 						_control_mode.flag_control_velocity_enabled))) {
 			if (_att_sp_pub != nullptr && (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode)) {
 				orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
-			} else if (_att_sp_pub == nullptr && _vehicle_status.is_rotary_wing){
+			} else if (_att_sp_pub == nullptr && (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode)) {
 				_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
 			}
 		}