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 d0633f9b00..5f618ff882 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -244,8 +244,6 @@ private:
 	bool _hold_offboard_z = false;
 	bool _limit_vel_xy = false;
 
-	bool _transition_to_non_manual = false;
-
 	math::Vector<3> _thrust_int;
 
 	math::Vector<3> _pos;
@@ -763,13 +761,6 @@ MulticopterPositionControl::poll_subscriptions()
 		    !PX4_ISFINITE(_pos_sp_triplet.current.alt)) {
 			_pos_sp_triplet.current.valid = false;
 		}
-
-		/* to avoid time scheduling issue that occurs when the navigator has not updated the triplet
-		 * but the mc_pos_control already received a non-manual control flag
-		 */
-		if (_transition_to_non_manual && !_control_mode.flag_control_manual_enabled) {
-			_transition_to_non_manual = false;
-		}
 	}
 
 	orb_check(_home_pos_sub, &updated);
@@ -1604,6 +1595,7 @@ void MulticopterPositionControl::control_auto(float dt)
 		}
 
 	} else {
+
 		/* idle or triplet not valid, set velocity setpoint to zero */
 		_vel_sp.zero();
 		_run_pos_control = false;
@@ -1678,15 +1670,15 @@ MulticopterPositionControl::do_control(float dt)
 		control_manual(dt);
 		_mode_auto = false;
 
-		_transition_to_non_manual = true;
+		/* we set tiplets to false
+		 * this ensures that when switching to auto, the position
+		 * controller will not use the old triplets but waits until triplets
+		 * have been updated */
+		_pos_sp_triplet.current.valid = false;
 
 		_hold_offboard_xy = false;
 		_hold_offboard_z = false;
 
-	} else if (_transition_to_non_manual) {
-		/* we reuse the previous setpoints */
-		calculate_thrust_setpoint(dt);
-
 	} else {
 		control_non_manual(dt);
 	}