diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 851529bb54..20efb4db3c 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1599,7 +1599,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vtol_vehicle_status), vtol_vehicle_status_sub, &vtol_status);
 			status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab;
 
-			/* Make sure that this is only adjusted if vehicle really is of type vtol*/
+			/* Make sure that this is only adjusted if vehicle really is of type vtol */
 			if (is_vtol(&status)) {
 				status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
 				status.in_transition_mode = vtol_status.vtol_in_trans_mode;
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 6776d78871..53eff5977f 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1610,7 +1610,9 @@ MulticopterPositionControl::task_main()
 
 		/* publish attitude setpoint
 		 * Do not publish if offboard is enabled but position/velocity control is disabled,
-		 * in this case the attitude setpoint is published by the mavlink app
+		 * in this case the attitude setpoint is published by the mavlink app. Also do not publish
+		 * if the vehicle is a VTOL and it's just doing a transition (the VTOL attitude control module will generate
+		 * attitude setpoints for the transition).
 		 */
 		if (!(_control_mode.flag_control_offboard_enabled &&
 		      !(_control_mode.flag_control_position_enabled ||