diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 78683c97e5..47889b1022 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -334,6 +334,11 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
 void
 MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *item, struct position_setpoint_s *sp)
 {
+	/* set the correct setpoint for vtol transition */
+	if(item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) {
+		sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
+	}
+
 	/* don't change the setpoint for non-position items */
 	if (!item_contains_position(item)) {
 		return;