diff --git a/px4_ros2_cpp/test/integration/overrides.cpp b/px4_ros2_cpp/test/integration/overrides.cpp
index a629735a..b485b2a4 100644
--- a/px4_ros2_cpp/test/integration/overrides.cpp
+++ b/px4_ros2_cpp/test/integration/overrides.cpp
@@ -79,7 +79,7 @@ class ModeExecutorTest : public px4_ros2::ModeExecutorBase
 {
 public:
   ModeExecutorTest(rclcpp::Node & node, FlightModeTest & owned_mode, bool activate_immediately)
-  : ModeExecutorBase(node, ModeExecutorBase::Settings{Settings::Activation::ActivateImmediately},
+  : ModeExecutorBase(node, ModeExecutorBase::Settings{activate_immediately ? Settings::Activation::ActivateImmediately : Settings::Activation::ActivateOnlyWhenArmed},
       owned_mode),
     _node(node)
   {}