diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp
index ff0785bec82d..9bfdd93659f3 100644
--- a/src/modules/navigator/gpsfailure.cpp
+++ b/src/modules/navigator/gpsfailure.cpp
@@ -93,7 +93,13 @@ GpsFailure::on_active()
 			q.copyTo(att_sp.q_d);
 			att_sp.q_d_valid = true;
 
-			_att_sp_pub.publish(att_sp);
+			if (_navigator->get_vstatus()->is_vtol) {
+				_fw_virtual_att_sp_pub.publish(att_sp);
+
+			} else {
+				_att_sp_pub.publish(att_sp);
+
+			}
 
 			/* Measure time */
 			if ((_param_nav_gpsf_lt.get() > FLT_EPSILON) &&
diff --git a/src/modules/navigator/gpsfailure.h b/src/modules/navigator/gpsfailure.h
index d956dfba5379..536f55b27969 100644
--- a/src/modules/navigator/gpsfailure.h
+++ b/src/modules/navigator/gpsfailure.h
@@ -76,7 +76,7 @@ class GpsFailure : public MissionBlock, public ModuleParams
 	hrt_abstime _timestamp_activation{0}; //*< timestamp when this mode was activated */
 
 	uORB::Publication<vehicle_attitude_setpoint_s>	_att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
-
+	uORB::Publication<vehicle_attitude_setpoint_s>	_fw_virtual_att_sp_pub{ORB_ID(fw_virtual_attitude_setpoint)};
 	/**
 	 * Set the GPSF item
 	 */