diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index 7818ddc341..a210b8ef27 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -78,11 +78,6 @@ void Standard::update_vtol_state()
 		_pusher_throttle = 0.0f;
 		_reverse_output = 0.0f;
 
-		//reset failsafe when FW is no longer requested
-		if (!_attc->is_fixed_wing_requested()) {
-			_vtol_vehicle_status->vtol_transition_failsafe = false;
-		}
-
 	} else if (!_attc->is_fixed_wing_requested()) {
 
 		// the transition to fw mode switch is off
diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index 69bc5a7552..74e7810fbf 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -75,11 +75,6 @@ void Tailsitter::update_vtol_state()
 		// Failsafe event, switch to MC mode immediately
 		_vtol_mode = vtol_mode::MC_MODE;
 
-		//reset failsafe when FW is no longer requested
-		if (!_attc->is_fixed_wing_requested()) {
-			_vtol_vehicle_status->vtol_transition_failsafe = false;
-		}
-
 	} else if (!_attc->is_fixed_wing_requested()) {
 
 		switch (_vtol_mode) { // user switchig to MC mode
diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp
index c48c10a1f4..a00c52860a 100644
--- a/src/modules/vtol_att_control/tiltrotor.cpp
+++ b/src/modules/vtol_att_control/tiltrotor.cpp
@@ -75,11 +75,6 @@ void Tiltrotor::update_vtol_state()
 		// Failsafe event, switch to MC mode immediately
 		_vtol_mode = vtol_mode::MC_MODE;
 
-		//reset failsafe when FW is no longer requested
-		if (!_attc->is_fixed_wing_requested()) {
-			_vtol_vehicle_status->vtol_transition_failsafe = false;
-		}
-
 	} else 	if (!_attc->is_fixed_wing_requested()) {
 
 		// plane is in multicopter mode
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 77c440b7b4..dfcf60af43 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -133,6 +133,12 @@ void VtolAttitudeControl::action_request_poll()
 			case action_request_s::ACTION_VTOL_TRANSITION_TO_FIXEDWING:
 				_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;
 				_immediate_transition = false;
+
+				// reset vtol_transition_failsafe flag when a new transition to FW is triggered
+				if (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW) {
+					_vtol_vehicle_status.vtol_transition_failsafe = false;
+				}
+
 				break;
 			}
 		}
@@ -162,6 +168,11 @@ void VtolAttitudeControl::vehicle_cmd_poll()
 			} else {
 				_transition_command = transition_command_param1;
 				_immediate_transition = (PX4_ISFINITE(vehicle_command.param2)) ? int(vehicle_command.param2 + 0.5f) : false;
+
+				// reset vtol_transition_failsafe flag when a new transition to FW is triggered
+				if (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW) {
+					_vtol_vehicle_status.vtol_transition_failsafe = false;
+				}
 			}
 
 			if (vehicle_command.from_external) {