diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index c503df7e63..69fd7f7de0 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -80,7 +80,16 @@ void Tailsitter::update_vtol_state()
 
 	float pitch = Eulerf(Quatf(_v_att->q)).theta();
 
-	if (!_attc->is_fixed_wing_requested()) {
+	if (_vtol_vehicle_status->vtol_transition_failsafe) {
+		// Failsafe event, switch to MC mode immediately
+		_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
+
+		//reset failsafe when FW is no longer requested
+		if (!_attc->is_fixed_wing_requested()) {
+			_vtol_vehicle_status->vtol_transition_failsafe = false;
+		}
+
+	} else if (!_attc->is_fixed_wing_requested()) {
 
 		switch (_vtol_schedule.flight_mode) { // user switchig to MC mode
 		case vtol_mode::MC_MODE:
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index 672db19c62..b34a8e70f3 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -100,7 +100,16 @@ void Tiltrotor::update_vtol_state()
 	 * forward completely. For the backtransition the motors simply rotate back.
 	*/
 
-	if (!_attc->is_fixed_wing_requested()) {
+	if (_vtol_vehicle_status->vtol_transition_failsafe) {
+		// Failsafe event, switch to MC mode immediately
+		_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
+
+		//reset failsafe when FW is no longer requested
+		if (!_attc->is_fixed_wing_requested()) {
+			_vtol_vehicle_status->vtol_transition_failsafe = false;
+		}
+
+	} else 	if (!_attc->is_fixed_wing_requested()) {
 
 		// plane is in multicopter mode
 		switch (_vtol_schedule.flight_mode) {