diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index 9be4ce5b3e..f8eee38ba7 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -204,16 +204,16 @@ void Standard::update_transition_state()
 						     _param_vt_psher_slew.get() * _dt, _param_vt_f_trans_thr.get());
 		}
 
-		_airspeed_trans_blend_margin = _param_vt_arsp_trans.get() - _param_vt_arsp_blend.get();
+		_airspeed_trans_blend_margin = getTransitionAirspeed() - getBlendAirspeed();
 
 		// do blending of mc and fw controls if a blending airspeed has been provided and the minimum transition time has passed
 		if (_airspeed_trans_blend_margin > 0.0f &&
 		    PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
 		    _airspeed_validated->calibrated_airspeed_m_s > 0.0f &&
-		    _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_blend.get() &&
+		    _airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed() &&
 		    _time_since_trans_start > getMinimumFrontTransitionTime()) {
 
-			mc_weight = 1.0f - fabsf(_airspeed_validated->calibrated_airspeed_m_s - _param_vt_arsp_blend.get()) /
+			mc_weight = 1.0f - fabsf(_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
 				    _airspeed_trans_blend_margin;
 			// time based blending when no airspeed sensor is set
 
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index c06d7e888e..0db029c161 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -244,9 +244,9 @@ void Tiltrotor::update_transition_state()
 		_mc_yaw_weight = 1.0f;
 
 		if (!_param_fw_arsp_mode.get()  && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
-		    _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_blend.get()) {
-			const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - _param_vt_arsp_blend.get()) /
-					     (_param_vt_arsp_trans.get()  - _param_vt_arsp_blend.get());
+		    _airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) {
+			const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
+					     (getTransitionAirspeed()  - getBlendAirspeed());
 			_mc_roll_weight = weight;
 			_mc_yaw_weight = weight;
 		}
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 0a558b0ec6..85e928df0a 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -50,6 +50,11 @@ using namespace matrix;
 
 #define THROTTLE_BLENDING_DUR_S 1.0f
 
+// [.] minimum ratio between the actual vehicle weight and the vehicle nominal weight (weight at which the performance limits are derived)
+static constexpr float kMinWeightRatio = 0.5f;
+
+// [.] maximum ratio between the actual vehicle weight and the vehicle nominal weight (weight at which the performance limits are derived)
+static constexpr float kMaxWeightRatio = 2.0f;
 
 VtolType::VtolType(VtolAttitudeControl *att_controller) :
 	ModuleParams(nullptr),
@@ -210,7 +215,7 @@ bool VtolType::isFrontTransitionCompletedBase()
 
 	if (airspeed_triggers_transition) {
 		transition_to_fw = minimum_trans_time_elapsed
-				   && _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_trans.get();
+				   && _airspeed_validated->calibrated_airspeed_m_s >= getTransitionAirspeed();
 
 	} else {
 		transition_to_fw = openloop_trans_time_elapsed;
@@ -581,3 +586,21 @@ float VtolType::getOpenLoopFrontTransitionTime() const
 {
 	return getFrontTransitionTimeFactor() * _param_vt_f_tr_ol_tm.get();
 }
+float VtolType::getTransitionAirspeed() const
+{
+	return  math::max(_param_vt_arsp_trans.get(), getMinimumAirspeed());
+}
+float VtolType::getMinimumAirspeed() const
+{
+	float weight_ratio = 1.0f;
+
+	if (_param_weight_base.get() > FLT_EPSILON && _param_weight_gross.get() > FLT_EPSILON) {
+		weight_ratio = math::constrain(_param_weight_gross.get() / _param_weight_base.get(), kMinWeightRatio, kMaxWeightRatio);
+	}
+
+	return sqrtf(weight_ratio) * _param_airspeed_min.get();
+}
+float VtolType::getBlendAirspeed() const
+{
+	return _param_vt_arsp_blend.get();
+}
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index 84dfbe6d00..acfbeace88 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -237,6 +237,24 @@ public:
 	*/
 	float getOpenLoopFrontTransitionTime() const;
 
+	/**
+	 *
+	 * @return The minimum calibrated airspeed compensated for weight [m/s]
+	 */
+	float getMinimumAirspeed() const;
+
+	/**
+	 *
+	 * @return The calibrated blending airspeed [m/s]
+	 */
+	float getBlendAirspeed() const;
+
+	/**
+	 *
+	 * @return The calibrated transition airspeed [m/s]
+	 */
+	float getTransitionAirspeed() const;
+
 	virtual void parameters_update() = 0;
 
 	/**
@@ -343,7 +361,11 @@ protected:
 					(ParamInt<px4::params::VT_FWD_THRUST_EN>) _param_vt_fwd_thrust_en,
 					(ParamFloat<px4::params::MPC_LAND_ALT1>) _param_mpc_land_alt1,
 					(ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2,
-					(ParamFloat<px4::params::VT_LND_PITCH_MIN>) _param_vt_lnd_pitch_min
+					(ParamFloat<px4::params::VT_LND_PITCH_MIN>) _param_vt_lnd_pitch_min,
+					(ParamFloat<px4::params::WEIGHT_BASE>) _param_weight_base,
+					(ParamFloat<px4::params::WEIGHT_GROSS>) _param_weight_gross,
+					(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_airspeed_min
+
 				       )
 
 private: