diff --git a/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp b/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp
index 790836d8966..db23c2e0d73 100644
--- a/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp
+++ b/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp
@@ -36,7 +36,8 @@
  */
 
 #include "FlightTaskTransition.hpp"
-#include "Sticks.hpp"
+
+using namespace matrix;
 
 FlightTaskTransition::FlightTaskTransition()
 {
@@ -50,7 +51,6 @@ FlightTaskTransition::FlightTaskTransition()
 
 bool FlightTaskTransition::updateInitialize()
 {
-
 	updateParameters();
 	return FlightTask::updateInitialize();
 }
@@ -110,8 +110,7 @@ bool FlightTaskTransition::update()
 
 	// calculate a horizontal acceleration vector which corresponds to an attitude composed of pitch up by _param_pitch_cruise_degrees
 	// and zero roll angle
-	matrix::Vector2f tmp(-1.0f, 0.0f);
-	Sticks::rotateIntoHeadingFrameXY(tmp, _yaw, NAN);
+	const Vector2f tmp = Dcm2f(_yaw) * Vector2f(-1.0f, 0.0f);
 	_acceleration_setpoint.xy() = tmp * tanf(math::radians(_param_pitch_cruise_degrees)) * CONSTANTS_ONE_G;
 
 	// slowly move vertical velocity setpoint to zero