diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp
index cd2283f501e0..87703356c99a 100644
--- a/src/modules/vtol_att_control/standard.cpp
+++ b/src/modules/vtol_att_control/standard.cpp
@@ -64,6 +64,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
 	_params_handles_standard.airspeed_blend = param_find("VT_ARSP_BLEND");
 	_params_handles_standard.airspeed_trans = param_find("VT_ARSP_TRANS");
 	_params_handles_standard.front_trans_timeout = param_find("VT_TRANS_TIMEOUT");
+	_params_handles_standard.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
 }
 
 Standard::~Standard()
@@ -100,6 +101,10 @@ Standard::parameters_update()
 	/* timeout for transition to fw mode */
 	param_get(_params_handles_standard.front_trans_timeout, &_params_standard.front_trans_timeout);
 
+	/* minimum time for transition to fw mode */
+	param_get(_params_handles_standard.front_trans_time_min, &_params_standard.front_trans_time_min);
+
+
 	return OK;
 }
 
@@ -153,6 +158,7 @@ void Standard::update_vtol_state()
 			// start transition to fw mode
 			_vtol_schedule.flight_mode = TRANSITION_TO_FW;
 			_vtol_schedule.transition_start = hrt_absolute_time();
+			warnx("Front transition started");
 
 		} else if (_vtol_schedule.flight_mode == FW_MODE) {
 			// in fw mode
@@ -164,12 +170,17 @@ void Standard::update_vtol_state()
 
 		} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
 			// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
-			if (_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans || !_armed->armed) {
+			if ((_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans &&
+			     (float)hrt_elapsed_time(&_vtol_schedule.transition_start)
+			     > (_params_standard.front_trans_time_min * 1000000.0f)) ||
+			    !_armed->armed) {
+				warnx("Front transition complete");
 				_vtol_schedule.flight_mode = FW_MODE;
 				// we can turn off the multirotor motors now
 				_flag_enable_mc_motors = false;
 				// don't set pusher throttle here as it's being ramped up elsewhere
 				_trans_finished_ts = hrt_absolute_time();
+				warnx("Front transition complete");
 			}
 
 		} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
@@ -211,8 +222,11 @@ void Standard::update_transition_state()
 					   (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_dur * 1000000.0f);
 		}
 
-		// do blending of mc and fw controls if a blending airspeed has been provided
-		if (_airspeed_trans_blend_margin > 0.0f && _airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_blend) {
+		// do blending of mc and fw controls if a blending airspeed has been provided and the minimum transition time has passed
+		if (_airspeed_trans_blend_margin > 0.0f &&
+		    _airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_blend &&
+		    (float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_time_min * 1000000.0f)
+		   ) {
 			float weight = 1.0f - fabsf(_airspeed->indicated_airspeed_m_s - _params_standard.airspeed_blend) /
 				       _airspeed_trans_blend_margin;
 			_mc_roll_weight = weight;
@@ -230,7 +244,7 @@ void Standard::update_transition_state()
 
 		// check front transition timeout
 		if (_params_standard.front_trans_timeout > FLT_EPSILON) {
-			if ( (float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_timeout * 1000000.0f)) {
+			if ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_timeout * 1000000.0f)) {
 				// transition timeout occured, abort transition
 				_attc->abort_front_transition();
 			}
diff --git a/src/modules/vtol_att_control/standard.h b/src/modules/vtol_att_control/standard.h
index 38676d44c053..de3ca96e38dd 100644
--- a/src/modules/vtol_att_control/standard.h
+++ b/src/modules/vtol_att_control/standard.h
@@ -72,6 +72,7 @@ class Standard : public VtolType
 		float airspeed_blend;
 		float airspeed_trans;
 		float front_trans_timeout;
+		float front_trans_time_min;
 	} _params_standard;
 
 	struct {
@@ -81,6 +82,7 @@ class Standard : public VtolType
 		param_t airspeed_blend;
 		param_t airspeed_trans;
 		param_t front_trans_timeout;
+		param_t front_trans_time_min;
 	} _params_handles_standard;
 
 	enum vtol_mode {
diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c
index df9de15b312a..66cfae160fc6 100644
--- a/src/modules/vtol_att_control/vtol_att_control_params.c
+++ b/src/modules/vtol_att_control/vtol_att_control_params.c
@@ -253,3 +253,14 @@ PARAM_DEFINE_INT32(VT_WV_LTR_EN, 0);
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_FLOAT(VT_TRANS_TIMEOUT, 15.0f);
+
+/**
+ * Front transition minimum time
+ *
+ * Minimum time in seconds for front transition.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_TRANS_MIN_TM, 2.0f);