diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index 516e2865cb..1868b3ba44 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -214,7 +214,7 @@ void Standard::update_vtol_state()
 
 			if (hrt_elapsed_time(&_vtol_schedule.transition_start) >
 			    (_params_standard.back_trans_dur * 1000000.0f) ||
-			    vel <= _params_standard.mpc_xy_cruise) {
+			    (_local_pos->v_xy_valid && vel <= _params_standard.mpc_xy_cruise)) {
 				_vtol_schedule.flight_mode = MC_MODE;
 			}
 
diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c
index 1ce7adeb0a..f9443c6c89 100644
--- a/src/modules/vtol_att_control/vtol_att_control_params.c
+++ b/src/modules/vtol_att_control/vtol_att_control_params.c
@@ -221,9 +221,10 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f);
 PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 4.0f);
 
 /**
- * Deceleration during back transition
+ * Approximate deceleration during back transition
  *
- * The deceleration during a back transition in m/s/s
+ * The approximate deceleration during a back transition in m/s/s
+ * Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint.
  *
  * @unit m/s/s
  * @min 0.00