diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 0cea13cc4d..ee112a40e7 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -717,7 +717,14 @@ FixedwingAttitudeControl::task_main()
 				float pitch_sp = _parameters.pitchsp_offset_rad;
 				float throttle_sp = 0.0f;
 
-				if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) {
+				/* Read attitude setpoint from uorb if
+				 * - velocity control or position control is enabled (pos controller is running)
+				 * - manual control is disabled (another app may send the setpoint, but it should
+				 *   for sure not be set from the remote control values)
+				 */
+				if (_vcontrol_mode.flag_control_velocity_enabled ||
+						_vcontrol_mode.flag_control_position_enabled ||
+						!_vcontrol_mode.flag_control_manual_enabled) {
 					/* read in attitude setpoint from attitude setpoint uorb topic */
 					roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
 					pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;