diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index 23c0c466f4..0e5b78789f 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -687,6 +687,23 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
 			mission_throttle = pos_sp_curr.cruising_throttle;
 		}
 
+		float tecs_fw_thr_min;
+		float tecs_fw_thr_max;
+		float tecs_fw_mission_throttle;
+
+		if (mission_throttle < _param_fw_thr_min.get()) {
+			/* enable gliding with this waypoint */
+			_tecs.set_speed_weight(2.0f);
+			tecs_fw_thr_min = 0.0;
+			tecs_fw_thr_max = 0.0;
+			tecs_fw_mission_throttle = 0.0;
+
+		} else {
+			tecs_fw_thr_min = _param_fw_thr_min.get();
+			tecs_fw_thr_max = _param_fw_thr_max.get();
+			tecs_fw_mission_throttle = mission_throttle;
+		}
+
 		const float acc_rad = _l1_control.switch_distance(500.0f);
 
 		uint8_t position_sp_type = pos_sp_curr.type;
@@ -782,23 +799,6 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
 			_att_sp.roll_body = _l1_control.get_roll_setpoint();
 			_att_sp.yaw_body = _l1_control.nav_bearing();
 
-			float tecs_fw_thr_min;
-			float tecs_fw_thr_max;
-			float tecs_fw_mission_throttle;
-
-			if (mission_throttle < _param_fw_thr_min.get()) {
-				/* enable gliding with this waypoint */
-				_tecs.set_speed_weight(2.0f);
-				tecs_fw_thr_min = 0.0;
-				tecs_fw_thr_max = 0.0;
-				tecs_fw_mission_throttle = 0.0;
-
-			} else {
-				tecs_fw_thr_min = _param_fw_thr_min.get();
-				tecs_fw_thr_max = _param_fw_thr_max.get();
-				tecs_fw_mission_throttle = mission_throttle;
-			}
-
 			tecs_update_pitch_throttle(now, position_sp_alt,
 						   calculate_target_airspeed(mission_airspeed, ground_speed),
 						   radians(_param_fw_p_lim_min.get()) - radians(_param_fw_psp_off.get()),
@@ -856,24 +856,6 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
 				_tecs.set_time_const_throt(_param_fw_thrtc_sc.get() * _param_fw_t_thro_const.get());
 			}
 
-
-			float tecs_fw_thr_min;
-			float tecs_fw_thr_max;
-			float tecs_fw_mission_throttle;
-
-			if (mission_throttle < _param_fw_thr_min.get()) {
-				/* enable gliding with this waypoint */
-				_tecs.set_speed_weight(2.0f);
-				tecs_fw_thr_min = 0.0;
-				tecs_fw_thr_max = 0.0;
-				tecs_fw_mission_throttle = 0.0;
-
-			} else {
-				tecs_fw_thr_min = _param_fw_thr_min.get();
-				tecs_fw_thr_max = _param_fw_thr_max.get();
-				tecs_fw_mission_throttle = _param_fw_thr_cruise.get();
-			}
-
 			tecs_update_pitch_throttle(now, alt_sp,
 						   calculate_target_airspeed(mission_airspeed, ground_speed),
 						   radians(_param_fw_p_lim_min.get()) - radians(_param_fw_psp_off.get()),