diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index b3723fd76334fb95525373f9de4189d44cb36448..6c5763bab478a215295696269b006d9ba70fcf27 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -297,12 +297,21 @@ FixedwingPositionControl::parameters_update()
 void
 FixedwingPositionControl::vehicle_control_mode_poll()
 {
-	bool updated;
+	bool updated = false;
 
 	orb_check(_control_mode_sub, &updated);
 
 	if (updated) {
-		orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
+		const bool was_armed = _control_mode.flag_armed;
+
+		if (orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode) == PX4_OK) {
+
+			// reset state when arming
+			if (!was_armed && _control_mode.flag_armed) {
+				reset_takeoff_state(true);
+				reset_landing_state();
+			}
+		}
 	}
 }
 
@@ -1870,10 +1879,10 @@ FixedwingPositionControl::run()
 }
 
 void
-FixedwingPositionControl::reset_takeoff_state()
+FixedwingPositionControl::reset_takeoff_state(bool force)
 {
 	// only reset takeoff if !armed or just landed
-	if (!_control_mode.flag_armed || (_was_in_air && _vehicle_land_detected.landed)) {
+	if (!_control_mode.flag_armed || (_was_in_air && _vehicle_land_detected.landed) || force) {
 
 		_runway_takeoff.reset();
 
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
index 72854c83f9669d835f8baeb07a0edf1f40eb1d12..44a9d537848a841bacbeddd634757baa7dfacc9d 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -447,7 +447,7 @@ private:
 	 */
 	void		handle_command();
 
-	void		reset_takeoff_state();
+	void		reset_takeoff_state(bool force = false);
 	void		reset_landing_state();
 
 	/*