diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index ab1d8add80..a51a2dee08 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -309,6 +309,11 @@ void Standard::update_transition_state()
 		if (_motor_state != motor_state::ENABLED) {
 			_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
 		}
+
+		// set idle speed for MC actuators
+		if (!_flag_idle_mc) {
+			_flag_idle_mc = set_idle_mc();
+		}
 	}
 
 	mc_weight = math::constrain(mc_weight, 0.0f, 1.0f);