diff --git a/src/modules/fw_mode_manager/ControllerConfigurationHandler.cpp b/src/modules/fw_mode_manager/ControllerConfigurationHandler.cpp
index 6f28e89a13..fcfabb1679 100644
--- a/src/modules/fw_mode_manager/ControllerConfigurationHandler.cpp
+++ b/src/modules/fw_mode_manager/ControllerConfigurationHandler.cpp
@@ -132,3 +132,8 @@ void CombinedControllerConfigurationHandler::setEnforceLowHeightCondition(bool l
 {
 	_longitudinal_configuration_current_cycle.enforce_low_height_condition = low_height_condition;
 }
+
+void CombinedControllerConfigurationHandler::resetLastPublishTime()
+{
+	_time_last_longitudinal_publish = _time_last_lateral_publish = 0;
+}
diff --git a/src/modules/fw_mode_manager/ControllerConfigurationHandler.hpp b/src/modules/fw_mode_manager/ControllerConfigurationHandler.hpp
index 743b2feb5f..5d7abe5d62 100644
--- a/src/modules/fw_mode_manager/ControllerConfigurationHandler.hpp
+++ b/src/modules/fw_mode_manager/ControllerConfigurationHandler.hpp
@@ -75,6 +75,8 @@ public:
 
 	void setLateralAccelMax(float lateral_accel_max);
 
+	void resetLastPublishTime();
+
 private:
 	bool booleanValueChanged(bool new_value, bool current_value)
 	{
diff --git a/src/modules/fw_mode_manager/FixedWingModeManager.cpp b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
index fc34d14187..85a5b7f104 100644
--- a/src/modules/fw_mode_manager/FixedWingModeManager.cpp
+++ b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
@@ -1840,8 +1840,15 @@ FixedWingModeManager::Run()
 
 	/* only run controller if position changed and we are not running an external mode*/
 
-	if (!((_nav_state >= vehicle_status_s::NAVIGATION_STATE_EXTERNAL1)
-	      && (_nav_state <= vehicle_status_s::NAVIGATION_STATE_EXTERNAL8)) && _local_pos_sub.update(&_local_pos)) {
+	const bool is_external_nav_state = (_nav_state >= vehicle_status_s::NAVIGATION_STATE_EXTERNAL1)
+					   && (_nav_state <= vehicle_status_s::NAVIGATION_STATE_EXTERNAL8);
+
+	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();
+
+	} else if (_local_pos_sub.update(&_local_pos)) {
 
 		const hrt_abstime now = _local_pos.timestamp;
 
@@ -2095,7 +2102,9 @@ FixedWingModeManager::Run()
 			}
 		}
 
-		_ctrl_configuration_handler.update(now);
+		if (_control_mode_current != FW_POSCTRL_MODE_OTHER) {
+			_ctrl_configuration_handler.update(now);
+		}
 
 		// only publish status in full FW mode
 		if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING