diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 565b2f2150..22f41ddba6 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -110,7 +110,9 @@ MissionBlock::is_mission_item_reached_or_completed()
 
 		if (int(_mission_item.params[0]) == 3) {
 			// transition to RW requested, only accept waypoint if vehicle state has changed accordingly
-			return _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+			const bool in_pure_mc_mode = _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
+						     !_navigator->get_vstatus()->in_transition_mode;
+			return in_pure_mc_mode;
 
 		} else if (int(_mission_item.params[0]) == 4) {
 			// transition to FW requested, only accept waypoint if vehicle state has changed accordingly