diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index 6b79350f98..235f6ab159 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -843,10 +843,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
 	_att_sp.pitch_reset_integral = false;
 	_att_sp.yaw_reset_integral = false;
 
-	if (pos_sp_curr.valid && pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
-		publishOrbitStatus(pos_sp_curr);
-	}
-
 	position_setpoint_s current_sp = pos_sp_curr;
 
 	if (_vehicle_status.in_transition_to_fw) {
@@ -893,6 +889,8 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
 
 	case position_setpoint_s::SETPOINT_TYPE_LOITER:
 		control_auto_loiter(now, dt, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next);
+		publishOrbitStatus(pos_sp_curr);
+
 		break;
 
 	case position_setpoint_s::SETPOINT_TYPE_LAND: