diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index b8be7ff8d2..f46ceb66e6 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -180,7 +180,7 @@ void Tailsitter::update_vtol_state()
 
 			// check if we have reached airspeed  and pitch angle to switch to TRANSITION P2 mode
 			if ((_airspeed->indicated_airspeed_m_s >= _params_tailsitter.airspeed_trans
-			     && _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) {
+			     && _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) {
 				_vtol_schedule.flight_mode = FW_MODE;
 				//_vtol_schedule.transition_start = hrt_absolute_time();
 			}