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 199dcac84c56..e34b85460aa0 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -336,6 +336,7 @@ VtolAttitudeControl::Run()
 
 		_vehicle_control_mode_sub.update(&_vehicle_control_mode);
 		_vehicle_attitude_sub.update(&_vehicle_attitude);
+		_global_pos_sub.update(&_global_pos);
 		_local_pos_sub.update(&_local_pos);
 		_local_pos_sp_sub.update(&_local_pos_sp);
 		_pos_sp_triplet_sub.update(&_pos_sp_triplet);
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index 6ef046f05f8a..2dd233088c54 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -78,6 +78,7 @@
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_land_detected.h>
+#include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vtol_vehicle_status.h>
@@ -137,6 +138,7 @@ class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public Modul
 	struct vehicle_control_mode_s 			*get_control_mode() {return &_vehicle_control_mode;}
 	struct vehicle_land_detected_s			*get_land_detected() {return &_land_detected;}
 	struct vehicle_local_position_s 		*get_local_pos() {return &_local_pos;}
+	struct vehicle_global_position_s		*get_global_pos() {return &_global_pos;}
 	struct vehicle_local_position_setpoint_s	*get_local_pos_sp() {return &_local_pos_sp;}
 	struct vehicle_torque_setpoint_s 		*get_torque_setpoint_0() {return &_torque_setpoint_0;}
 	struct vehicle_torque_setpoint_s 		*get_torque_setpoint_1() {return &_torque_setpoint_1;}
@@ -160,6 +162,7 @@ class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public Modul
 	uORB::Subscription _home_position_sub{ORB_ID(home_position)};
 	uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription _local_pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)};
+	uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
 	uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
 	uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
 	uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
@@ -201,6 +204,7 @@ class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public Modul
 	vehicle_attitude_s			_vehicle_attitude{};
 	vehicle_control_mode_s			_vehicle_control_mode{};
 	vehicle_land_detected_s			_land_detected{};
+	vehicle_global_position_s		_global_pos{};
 	vehicle_local_position_s		_local_pos{};
 	vehicle_local_position_setpoint_s	_local_pos_sp{};
 	vehicle_status_s 			_vehicle_status{};
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 458b3927fb9c..19a4db2d3978 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -46,6 +46,7 @@
 #include <px4_platform_common/defines.h>
 #include <matrix/math.hpp>
 #include <lib/atmosphere/atmosphere.h>
+#include <lib/geo/geo.h>
 
 using namespace matrix;
 
@@ -176,10 +177,22 @@ float VtolType::update_and_get_backtransition_pitch_sp()
 
 	const float track = atan2f(_local_pos->vy, _local_pos->vx);
 	const float accel_body_forward = cosf(track) * _local_pos->ax + sinf(track) * _local_pos->ay;
+	const float vel_body_forward = cosf(track) * _local_pos->vx + sinf(track) * _local_pos->vy;
 
-	// increase the target deceleration setpoint provided to the controller by 20%
-	// to make overshooting the transition waypoint less likely in the presence of tracking errors
-	const float dec_sp = _param_vt_b_dec_mss.get() * 1.2f;
+	// Compute distance to waypoint in body x-direction -> dist_body_forward
+	MapProjection map_proj{_attc->get_global_pos()->lat, _attc->get_global_pos()->lon};
+
+	float dx, dy = 0.0;
+
+	map_proj.project(_attc->get_pos_sp_triplet()->current.lat, _attc->get_pos_sp_triplet()->current.lon, dx, dy);
+
+	const float dist_body_forward = cosf(track) * dx + sinf(track) * dy;
+
+	// Add 20% factor to maximum allowed deceleration
+	const float max_dec_sp = _param_vt_b_dec_mss.get() * 1.2f;
+
+	// Compute forward acceleration setpoint
+	float dec_sp = math::min(vel_body_forward*vel_body_forward / (2.f * dist_body_forward), max_dec_sp);
 
 	// get accel error, positive means decelerating too slow, need to pitch up (must reverse dec_max, as it is a positive number)
 	const float accel_error_forward = dec_sp + accel_body_forward;