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 3e7a9f9aa8..8772ceb835 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -800,6 +800,10 @@ FixedwingAttitudeControl::task_main()
 
 			vehicle_status_poll();
 
+			// the position controller will not emit attitude setpoints in some modes
+			// we need to make sure that this flag is reset
+			_att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled;
+
 			/* lock integrator until control is started */
 			bool lock_integrator;