diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index b16a344ca6..5693d516b3 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -281,6 +281,12 @@ void Tailsitter::fill_actuator_outputs()
 
 		_thrust_setpoint_0->xyz[2] = -_vehicle_thrust_setpoint_virtual_fw->xyz[0];
 
+		// for the short period after switching to FW where there is no thrust published yet from the FW controller,
+		// keep publishing the last MC thrust to keep the motors running
+		if (hrt_elapsed_time(&_trans_finished_ts) < 50_ms) {
+			_thrust_setpoint_0->xyz[2] = _last_thr_in_mc;
+		}
+
 		/* allow differential thrust if enabled */
 		if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::YAW_BIT)) {
 			_torque_setpoint_0->xyz[0] = _vehicle_torque_setpoint_virtual_fw->xyz[0] * _param_vt_fw_difthr_s_y.get();
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 1d6f5b667a..e43dd7c912 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -164,6 +164,8 @@ void VtolType::update_transition_state()
 	_time_since_trans_start = (float)(t_now - _transition_start_timestamp) * 1e-6f;
 
 	check_quadchute_condition();
+
+	_last_thr_in_mc = _vehicle_thrust_setpoint_virtual_mc->xyz[2];
 }
 
 float VtolType::update_and_get_backtransition_pitch_sp()
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index 78d078b5c8..8f9ae9ef38 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -299,6 +299,7 @@ protected:
 	// motors spinning up or cutting too fast when doing transitions.
 	float _thrust_transition = 0.0f;	// thrust value applied during a front transition (tailsitter & tiltrotor only)
 	float _last_thr_in_fw_mode = 0.0f;
+	float _last_thr_in_mc = 0.f;
 
 	hrt_abstime _trans_finished_ts = 0;
 	hrt_abstime _transition_start_timestamp{0};