diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
index 5a55be1cc8..e939a56f54 100644
--- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
@@ -1316,7 +1316,15 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
 
 		} else {
 			// continue straight until vehicle has sufficient altitude
+			// keep flaps in landing configuration if the airspeed is below the min airspeed (keep deployed if airspeed not valid)
 			roll_body = 0.0f;
+
+			if (!_airspeed_valid || _airspeed_eas < _performance_model.getMinimumCalibratedAirspeed()) {
+				_flaps_setpoint =  _param_fw_flaps_lnd_scl.get();
+
+			} else {
+				_flaps_setpoint = 0.f;
+			}
 		}
 
 		is_low_height = true; // In low-height flight, TECS will control altitude tighter