diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index 28963ebab9..7358257e58 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -526,10 +526,10 @@ void FixedwingAttitudeControl::Run()
 		const matrix::Eulerf euler_angles(R);
 
 		vehicle_attitude_setpoint_poll();
+		vehicle_status_poll(); // this poll has to be before the control_mode_poll, otherwise rate sp are not published during whole transition
 		vehicle_control_mode_poll();
 		vehicle_manual_poll();
 		_global_pos_sub.update(&_global_pos);
-		vehicle_status_poll();
 		vehicle_land_detected_poll();
 
 		// the position controller will not emit attitude setpoints in some modes