diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp
index 7a73bc23d10..f3af043a5f2 100644
--- a/src/modules/vtol_att_control/tailsitter.cpp
+++ b/src/modules/vtol_att_control/tailsitter.cpp
@@ -130,16 +130,19 @@ void Tailsitter::update_vtol_state()
 		case FW_MODE:
 			break;
 
-		case TRANSITION_FRONT_P1:
+		case TRANSITION_FRONT_P1: {
 
-			// check if we have reached airspeed  and pitch angle to switch to TRANSITION P2 mode
-			if ((_airspeed->indicated_airspeed_m_s >= _params->transition_airspeed
-			     && pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) {
-				_vtol_schedule.flight_mode = FW_MODE;
+				bool airspeed_condition_satisfied = _airspeed->indicated_airspeed_m_s >= _params->transition_airspeed;
+				airspeed_condition_satisfied |= _params->airspeed_disabled;
+
+				// check if we have reached airspeed  and pitch angle to switch to TRANSITION P2 mode
+				if ((airspeed_condition_satisfied && pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) {
+					_vtol_schedule.flight_mode = FW_MODE;
+				}
+
+				break;
 			}
 
-			break;
-
 		case TRANSITION_BACK:
 			// failsafe into fixed wing mode
 			_vtol_schedule.flight_mode = FW_MODE;