diff --git a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
index 835f72c60a..c823b5f9c7 100644
--- a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
+++ b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
@@ -61,9 +61,11 @@ void FlightTaskTransition::checkSetpoints(vehicle_local_position_setpoint_s &set
 bool FlightTaskTransition::update()
 {
 	// level wings during the transition, altitude should be controlled
-	_position_setpoint(2) = _transition_altitude;
 	_acceleration_setpoint.xy() = matrix::Vector2f(0.f, 0.f);
+	_position_setpoint *= NAN;
+	_velocity_setpoint(2) = 0.0f;
+	_position_setpoint(2) = NAN;
 
-	_yaw_setpoint = _transition_yaw;
+	_yaw_setpoint = NAN;
 	return true;
 }
diff --git a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
index 16a5a8ae8f..cd2e567756 100644
--- a/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
+++ b/src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.hpp
@@ -53,7 +53,6 @@ public:
 
 private:
 	void checkSetpoints(vehicle_local_position_setpoint_s &setpoints);
-	void updateAccelerationEstimate();
 
 	float _transition_altitude = 0.0f;
 	float _transition_yaw = 0.0f;