diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index f037da53ac..ac1dfb352a 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -842,21 +842,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
 			_att_sp.thrust_body[0] = get_tecs_thrust();
 		}
 	}
-
-	// decide when to use pitch setpoint from TECS because in some cases pitch
-	// setpoint is generated by other means
-	bool use_tecs_pitch = true;
-
-	// auto runway takeoff
-	use_tecs_pitch &= !(position_sp_type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
-			    (_launch_detection_state == LAUNCHDETECTION_RES_NONE || _runway_takeoff.runwayTakeoffEnabled()));
-
-	// flaring during landing
-	use_tecs_pitch &= !(position_sp_type == position_setpoint_s::SETPOINT_TYPE_LAND && _land_noreturn_vertical);
-
-	if (use_tecs_pitch) {
-		_att_sp.pitch_body = get_tecs_pitch();
-	}
 }
 
 void
@@ -1086,6 +1071,8 @@ FixedwingPositionControl::control_auto_position(const hrt_abstime &now, const Ve
 				   tecs_fw_mission_throttle,
 				   false,
 				   radians(_param_fw_p_lim_min.get()));
+
+	_att_sp.pitch_body = get_tecs_pitch();
 }
 
 void
@@ -1197,6 +1184,7 @@ FixedwingPositionControl::control_auto_loiter(const hrt_abstime &now, const Vect
 				   tecs_fw_mission_throttle,
 				   false,
 				   radians(_param_fw_p_lim_min.get()));
+	_att_sp.pitch_body = get_tecs_pitch();
 }
 
 void
@@ -1356,6 +1344,8 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 							   radians(_param_fw_p_lim_min.get()));
 			}
 
+			_att_sp.pitch_body = get_tecs_pitch();
+
 		} else {
 			/* Tell the attitude controller to stop integrating while we are waiting
 			 * for the launch */
@@ -1368,6 +1358,13 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 			_att_sp.pitch_body = radians(_takeoff_pitch_min.get());
 		}
 	}
+
+	// flaring during landing
+	use_tecs_pitch &= !(position_sp_type == position_setpoint_s::SETPOINT_TYPE_LAND && _land_noreturn_vertical);
+
+	if (use_tecs_pitch) {
+	}
+
 }
 
 void
@@ -1643,6 +1640,8 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const Vec
 					   false,
 					   radians(_param_fw_p_lim_min.get()));
 	}
+
+	_att_sp.pitch_body = get_tecs_pitch();
 }
 
 void