diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index dfadb05e5b..6b5c29ab93 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -3018,8 +3018,8 @@ set_control_mode()
 		control_mode.flag_control_attitude_enabled = true;
 		control_mode.flag_control_altitude_enabled = true;
 		control_mode.flag_control_climb_rate_enabled = true;
-		control_mode.flag_control_position_enabled = true;
-		control_mode.flag_control_velocity_enabled = true;
+		control_mode.flag_control_position_enabled = !status.in_transition_mode;
+		control_mode.flag_control_velocity_enabled = !status.in_transition_mode;
 		control_mode.flag_control_termination_enabled = false;
 		break;