diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index c6f03ea7b502..635e01d495f3 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -247,13 +247,6 @@ void
 MulticopterAttitudeControl::control_attitude()
 {
 	_v_att_sp_sub.update(&_v_att_sp);
-
-	// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
-	if (!_v_control_mode.flag_armed) {
-		Quatf().copyTo(_v_att_sp.q_d);
-		Vector3f().copyTo(_v_att_sp.thrust_body);
-	}
-
 	_rates_sp = _attitude_control.update(Quatf(_v_att.q), Quatf(_v_att_sp.q_d), _v_att_sp.yaw_sp_move_rate);
 }
 
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index f8b23c8d821f..bdeb594612ff 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -568,15 +568,8 @@ MulticopterPositionControl::Run()
 		_takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, false, 10.f,
 					    !_control_mode.flag_control_climb_rate_enabled, time_stamp_now);
 
-		// takeoff delay for motors to reach idle speed
-		if (_takeoff.getTakeoffState() >= TakeoffState::ready_for_takeoff) {
-			// when vehicle is ready switch to the required flighttask
-			start_flight_task();
-
-		} else {
-			// stop flighttask while disarmed
-			_flight_tasks.switchTask(FlightTaskIndex::None);
-		}
+		// switch to the required flighttask
+		start_flight_task();
 
 		// check if any task is active
 		if (_flight_tasks.isAnyTaskActive()) {
@@ -705,10 +698,10 @@ MulticopterPositionControl::Run()
 			}
 
 			// publish attitude setpoint
-			// Note: this requires review. The reason for not sending
-			// an attitude setpoint is because for non-flighttask modes
-			// the attitude septoint should come from another source, otherwise
-			// they might conflict with each other such as in offboard attitude control.
+			// It's important to publish also when disarmed otheriwse the attitude setpoint stays uninitialized.
+			// Not publishing when not running a flight task
+			// in stabilized mode attitude setpoints get ignored
+			// in offboard with attitude setpoints they come from MAVLink directly
 			if (_attitude_setpoint_id != nullptr) {
 				orb_publish_auto(_attitude_setpoint_id, &_vehicle_attitude_setpoint_pub, &attitude_setpoint, nullptr, ORB_PRIO_DEFAULT);
 			}
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 946e1e6159b4..45ac57fcc81f 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -389,13 +389,6 @@ VtolAttitudeControl::Run()
 			_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);
 
 			if (mc_att_sp_updated || fw_att_sp_updated) {
-
-				// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
-				if (!_v_control_mode.flag_armed) {
-					Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
-					Vector3f().copyTo(_v_att_sp.thrust_body);
-				}
-
 				_vtol_type->update_transition_state();
 				_v_att_sp_pub.publish(_v_att_sp);
 			}
@@ -408,14 +401,6 @@ VtolAttitudeControl::Run()
 			_vtol_vehicle_status.vtol_in_trans_mode = false;
 			_vtol_vehicle_status.in_transition_to_fw = false;
 
-			if (mc_att_sp_updated) {
-				// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
-				if (!_v_control_mode.flag_armed) {
-					Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
-					Vector3f().copyTo(_v_att_sp.thrust_body);
-				}
-			}
-
 			_vtol_type->update_mc_state();
 			_v_att_sp_pub.publish(_v_att_sp);