diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index f8455b1888..e263afce12 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -602,8 +602,9 @@ bool isFixedWingFlying(void)
 #endif
     bool throttleCondition = rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle;
     bool velCondition = posControl.actualState.velXY > 250 || airspeed > 250;
+    bool launchCondition = isNavLaunchEnabled() && fixedWingLaunchStatus() == FW_LAUNCH_FLYING;
 
-    return isImuHeadingValid() && throttleCondition && velCondition;
+    return (isImuHeadingValid() && throttleCondition && velCondition) || launchCondition;
 }
 
 /*-----------------------------------------------------------