diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index 1d9d7b1155..8725647849 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -128,8 +128,11 @@ void Standard::update_vtol_state()
 			_mc_yaw_weight = 1.0f;
 
 		} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
-			// keep transitioning to mc mode
-			_vtol_schedule.flight_mode = MC_MODE;
+			// transition to MC mode if transition time has passed
+			if (hrt_elapsed_time(&_vtol_schedule.transition_start) >
+					(_params_standard.back_trans_dur * 1000000.0f)) {
+				_vtol_schedule.flight_mode = MC_MODE;
+			}
 		}
 
 		// the pusher motor should never be powered when in or transitioning to mc mode