diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index 03a749a3b3..d5e14db741 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit 03a749a3b3238c014329e9e8da57d102ede6f4f0
+Subproject commit d5e14db741e2cf26b406ca12071f8bb91150d536
diff --git a/posix-configs/SITL/init/rcS_gazebo_tailsitter b/posix-configs/SITL/init/rcS_gazebo_tailsitter
index c88948cf55..2e3b01084e 100644
--- a/posix-configs/SITL/init/rcS_gazebo_tailsitter
+++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter
@@ -52,6 +52,7 @@ fw_pos_control_l1 start
 fw_att_control start
 mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
 mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
@@ -61,4 +62,3 @@ mavlink stream -r 20 -s RC_CHANNELS -u 14556
 mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 mavlink boot_complete
-sdlog2 start -r 100 -e -t -a
diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index 4089be5b83..a1680cc09c 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -129,7 +129,7 @@ void Tailsitter::update_vtol_state()
 	 * For the backtransition the pitch is controlled in MC mode again and switches to full MC control reaching the sufficient pitch angle.
 	*/
 
-	if (_manual_control_sp->aux1 < 0.0f) {
+	if (!_attc->is_fixed_wing_requested()) {
 
 
 		switch (_vtol_schedule.flight_mode) { // user switchig to MC mode