diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index c87ca630ac..05c1a525b1 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -154,7 +154,7 @@ void Standard::update_vtol_state()
 
 		} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
 			// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
-			if (_airspeed->true_airspeed_m_s >= _params_standard.airspeed_trans) {
+			if (_airspeed->true_airspeed_m_s >= _params_standard.airspeed_trans || !_armed->armed) {
 				_vtol_schedule.flight_mode = FW_MODE;
 				// we can turn off the multirotor motors now
 				_flag_enable_mc_motors = false;
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index 9e170104c4..270aa065a9 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -205,7 +205,8 @@ void Tiltrotor::update_vtol_state()
 		case TRANSITION_FRONT_P1:
 
 			// check if we have reached airspeed to switch to fw mode
-			if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_trans) {
+			// also allow switch if we are not armed for the sake of bench testing
+			if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_trans || !_armed->armed) {
 				_vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
 				_vtol_schedule.transition_start = hrt_absolute_time();
 			}