diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 6a105762ba..9d9d2a7c00 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1071,6 +1071,12 @@ MulticopterPositionControl::task_main()
 			_reset_pos_sp = true;
 			reset_int_z = true;
 			reset_int_xy = true;
+
+			/* Close att_sp pub to allow offboard mode or att controller to advertise */
+			if (_att_sp_pub > 0) {
+				close(_att_sp_pub);
+				_att_sp_pub = -1;
+			}
 		}
 
 		/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */