diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index f6dc00e9bc..197e3561cb 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -1578,8 +1578,9 @@ FixedwingPositionControl::Run()
 
 				// only publish status in full FW mode
 				if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
-				    && !_vehicle_status.in_transition_mode) {
+				    || _vehicle_status.in_transition_mode) {
 					status_publish();
+
 				}
 			}
 		}
diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index d434ee6373..1b00205a8b 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -264,6 +264,9 @@ void Standard::update_transition_state()
 
 		// ramp up FW_PSP_OFF
 		_v_att_sp->pitch_body = _params_standard.pitch_setpoint_offset * (1.0f - mc_weight);
+
+		_v_att_sp->roll_body = _fw_virtual_att_sp->roll_body;
+
 		const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
 		q_sp.copyTo(_v_att_sp->q_d);
 
@@ -279,6 +282,7 @@ void Standard::update_transition_state()
 
 		// maintain FW_PSP_OFF
 		_v_att_sp->pitch_body = _params_standard.pitch_setpoint_offset;
+		_v_att_sp->roll_body = _fw_virtual_att_sp->roll_body;
 		const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
 		q_sp.copyTo(_v_att_sp->q_d);