diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index 9adcb6a9ff..7cb5ea26e9 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -208,7 +208,7 @@ void Tiltrotor::update_vtol_state()
 
 			// check if we have reached airspeed to switch to fw mode
 			// also allow switch if we are not armed for the sake of bench testing
-			if (_airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_trans || !_armed->armed) {
+			if (_airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_trans || can_transition_on_ground()) {
 				_vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
 				_vtol_schedule.transition_start = hrt_absolute_time();
 			}