diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 8390266d9f..90879d9811 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -2065,15 +2065,24 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 
 	}
 
-	/* During a takeoff waypoint while waiting for launch the pitch sp is set
-	 * already (not by tecs) */
-	if (!(_control_mode_current ==  FW_POSCTRL_MODE_AUTO && (
-		      (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
-		       (_launch_detection_state == LAUNCHDETECTION_RES_NONE ||
-			_runway_takeoff.runwayTakeoffEnabled())) ||
-		      (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND &&
-		       _land_noreturn_vertical))
-	     )) {
+	// decide when to use pitch setpoint from TECS because in some cases pitch
+	// setpoint is generated by other means
+	bool use_tecs_pitch = true;
+
+	// auto runway takeoff
+	use_tecs_pitch &= !(_control_mode_current ==  FW_POSCTRL_MODE_AUTO &&
+		      pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
+		       (_launch_detection_state == LAUNCHDETECTION_RES_NONE || _runway_takeoff.runwayTakeoffEnabled()));
+
+
+	// flaring during landing
+	use_tecs_pitch &= !(pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND &&
+		       _land_noreturn_vertical);
+
+	// manual attitude control
+	use_tecs_pitch &=  !(_control_mode_current == FW_POSCTRL_MODE_OTHER);
+
+	if (use_tecs_pitch) {
 		_att_sp.pitch_body = get_tecs_pitch();
 	}