diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index bac72a81ce..7a67077a8a 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2580,8 +2580,8 @@ set_control_mode()
 		control_mode.flag_control_attitude_enabled = true;
 		control_mode.flag_control_altitude_enabled = true;
 		control_mode.flag_control_climb_rate_enabled = true;
-		control_mode.flag_control_position_enabled = true;
-		control_mode.flag_control_velocity_enabled = true;
+		control_mode.flag_control_position_enabled = !vtol_status.vtol_in_trans_mode;
+		control_mode.flag_control_velocity_enabled = !vtol_status.vtol_in_trans_mode;
 		control_mode.flag_control_termination_enabled = false;
 		break;