diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index 9b9da36845..b52716143d 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -1746,7 +1746,8 @@ FixedwingPositionControl::Run()
 			if (_control_mode.flag_control_offboard_enabled ||
 			    _control_mode.flag_control_position_enabled ||
 			    _control_mode.flag_control_velocity_enabled ||
-			    _control_mode.flag_control_acceleration_enabled) {
+			    _control_mode.flag_control_acceleration_enabled ||
+			    _control_mode.flag_control_altitude_enabled) {
 
 				/* lazily publish the setpoint only once available */
 				if (_attitude_sp_pub != nullptr) {