diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp
index 5c6fa30295..2f1105d1da 100644
--- a/src/modules/commander/ModeUtil/mode_requirements.cpp
+++ b/src/modules/commander/ModeUtil/mode_requirements.cpp
@@ -158,9 +158,15 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	// NAVIGATION_STATE_AUTO_TAKEOFF
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_angular_velocity);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_attitude);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_position);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_alt);
 
+	if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
+		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_position_relaxed);
+
+	} else {
+		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_position);
+	}
+
 	// NAVIGATION_STATE_AUTO_LAND
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_angular_velocity);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_attitude);
@@ -194,9 +200,15 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	// NAVIGATION_STATE_AUTO_VTOL_TAKEOFF
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_angular_velocity);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_attitude);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_alt);
 
+	if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
+		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position_relaxed);
+
+	} else {
+		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_local_position);
+	}
+
 	// NAVIGATION_STATE_EXTERNALx: handled outside
 
 	static_assert(vehicle_status_s::NAVIGATION_STATE_MAX == 31, "update mode requirements");