diff --git a/msg/vtol_vehicle_status.msg b/msg/vtol_vehicle_status.msg
index 7bc79768b5..48d87fd702 100644
--- a/msg/vtol_vehicle_status.msg
+++ b/msg/vtol_vehicle_status.msg
@@ -4,6 +4,7 @@ uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
 uint8 VEHICLE_VTOL_STATE_MC = 3
 uint8 VEHICLE_VTOL_STATE_FW = 4
+uint8 VEHICLE_VTOL_STATE_QC = 5
 
 uint64 timestamp			# time since system start (microseconds)
 
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 8a46ef9fb9..2f17c703d6 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -235,9 +235,7 @@ bool VtolType::can_transition_on_ground()
 
 void VtolType::check_quadchute_condition()
 {
-	//TODO: adapt https://mavlink.io/en/messages/common.html#MAV_VTOL_STATE to contain MAV_VTOL_STATE_QC
-	//instead of hardcoded 5.
-	if (_attc->get_transition_command() == 5 && !_quadchute_command_treated) {
+	if (_attc->get_transition_command() == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_QC && !_quadchute_command_treated) {
 		_attc->quadchute("QuadChute by command");
 		_quadchute_command_treated = true;