diff --git a/src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp b/src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp
index 56ae1c5dd2..247ecb53c0 100644
--- a/src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp
+++ b/src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp
@@ -237,7 +237,7 @@ FixedWingGuidanceControl::update_in_air_states(const hrt_abstime now)
 
 void
 FixedWingGuidanceControl::control_auto_path(const float control_interval, const Vector2d &curr_pos,
-					const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
+		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_curr)
 {
 	const float target_airspeed = pos_sp_curr.cruising_speed > FLT_EPSILON ? pos_sp_curr.cruising_speed : NAN;
 
@@ -291,10 +291,11 @@ FixedWingGuidanceControl::Run()
 
 	/* only run controller if position changed and we are not running an external mode*/
 
-	const bool is_external_nav_state = (_vehicle_status.nav_state >= vehicle_status_s::NAVIGATION_STATE_EXTERNAL1)
-					   && (_vehicle_status.nav_state <= vehicle_status_s::NAVIGATION_STATE_EXTERNAL8);
+	const bool is_external_nav_state = ((_vehicle_status.nav_state >= vehicle_status_s::NAVIGATION_STATE_EXTERNAL1)
+					    && (_vehicle_status.nav_state <= vehicle_status_s::NAVIGATION_STATE_EXTERNAL8))
+					   || _vehicle_status.nav_state <= vehicle_status_s::NAVIGATION_STATE_OFFBOARD;
 
-	if (is_external_nav_state) {
+	if (!is_external_nav_state) {
 		// this will cause the configuration handler to publish immediately the next time an internal flight
 		// mode is active
 		_ctrl_configuration_handler.resetLastPublishTime();
diff --git a/src/modules/fw_guidance_control/FixedWingGuidanceControl.hpp b/src/modules/fw_guidance_control/FixedWingGuidanceControl.hpp
index 202dab5d93..2bfe5c0208 100644
--- a/src/modules/fw_guidance_control/FixedWingGuidanceControl.hpp
+++ b/src/modules/fw_guidance_control/FixedWingGuidanceControl.hpp
@@ -352,8 +352,8 @@ private:
 	 * @param pos_sp_prev previous position setpoint
 	 * @param pos_sp_curr current position setpoint
 	 */
-	 void control_auto_path(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
-		const position_setpoint_s &pos_sp_curr);
+	void control_auto_path(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
+			       const position_setpoint_s &pos_sp_curr);
 
 	void publishLocalPositionSetpoint(const position_setpoint_s &current_waypoint);
 
diff --git a/src/modules/fw_mode_manager/FixedWingModeManager.cpp b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
index ae1a3d224e..e930a4a5ce 100644
--- a/src/modules/fw_mode_manager/FixedWingModeManager.cpp
+++ b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
@@ -2014,12 +2014,12 @@ FixedWingModeManager::Run()
 		if (_pos_sp_triplet_sub.update(&_pos_sp_triplet)) {
 
 			_position_setpoint_previous_valid = PX4_ISFINITE(_pos_sp_triplet.previous.lat)
-								&& PX4_ISFINITE(_pos_sp_triplet.previous.lon)
-								&& PX4_ISFINITE(_pos_sp_triplet.previous.alt);
+							    && PX4_ISFINITE(_pos_sp_triplet.previous.lon)
+							    && PX4_ISFINITE(_pos_sp_triplet.previous.alt);
 
 			_position_setpoint_current_valid = PX4_ISFINITE(_pos_sp_triplet.current.lat)
-								&& PX4_ISFINITE(_pos_sp_triplet.current.lon)
-								&& PX4_ISFINITE(_pos_sp_triplet.current.alt);
+							   && PX4_ISFINITE(_pos_sp_triplet.current.lon)
+							   && PX4_ISFINITE(_pos_sp_triplet.current.alt);
 
 			_position_setpoint_next_valid = PX4_ISFINITE(_pos_sp_triplet.next.lat)
 							&& PX4_ISFINITE(_pos_sp_triplet.next.lon)