diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 500140a3bbd..35927944d31 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1992,7 +1992,7 @@ static bool osdDrawSingleElement(uint8_t item)
         break;
 
      case OSD_AUTO_SPEED:
-        if (IS_RC_MODE_ACTIVE(BOXAUTOSPEED)) {
+        if (IS_RC_MODE_ACTIVE(BOXAUTOSPEED) || isFixedwingAutoSpeedActive()) {
             buff[0] = posControl.autoSpeedSpdSource == FW_AUTO_SPD_GROUND ? 'G' : 'A';
             strcpy(buff + 1, ": OFF");
             if (isFixedwingAutoSpeedActive()) {
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index f285d50e15d..e112ce8a1b9 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -4320,28 +4320,32 @@ bool isNavHoldPositionActive(void)
 
 float getActiveSpeed(void)
 {
-    /* Currently only applicable for multicopter */
+    uint16_t waypointSpeed = 0;
 
-    // Speed limit for modes where speed manually controlled
-    if (posControl.flags.isAdjustingPosition || FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
-        return navConfig()->general.max_manual_speed;
+    if (STATE(MULTIROTOR)) {
+        // Speed limit for modes where speed manually controlled
+        if (posControl.flags.isAdjustingPosition || FLIGHT_MODE(NAV_COURSE_HOLD_MODE)) {
+            return navConfig()->general.max_manual_speed;
+        }
+        waypointSpeed = navConfig()->general.auto_speed;
     }
 
-    uint16_t waypointSpeed = navConfig()->general.auto_speed;
+    if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP && posControl.waypointCount > 0 &&
+        (posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_WAYPOINT ||
+         posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME ||
+         posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_LAND)) {
 
-    if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP) {
-        if (posControl.waypointCount > 0 && (posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_WAYPOINT || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_LAND)) {
-            float wpSpecificSpeed = 0.0f;
-            if(posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME)
-                wpSpecificSpeed = posControl.waypointList[posControl.activeWaypointIndex].p2; // P1 is hold time
-            else
-                wpSpecificSpeed = posControl.waypointList[posControl.activeWaypointIndex].p1; // default case
+        uint16_t wpSpecificSpeed = 0;
+        if (posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME) {
+            wpSpecificSpeed = ABS(posControl.waypointList[posControl.activeWaypointIndex].p2); // P1 is hold time
+        } else {
+            wpSpecificSpeed = ABS(posControl.waypointList[posControl.activeWaypointIndex].p1); // default case
+        }
 
-            if (wpSpecificSpeed >= 50.0f && wpSpecificSpeed <= navConfig()->general.max_auto_speed) {
-                waypointSpeed = wpSpecificSpeed;
-            } else if (wpSpecificSpeed > navConfig()->general.max_auto_speed) {
-                waypointSpeed = navConfig()->general.max_auto_speed;
-            }
+        if (STATE(AIRPLANE)) {
+            return wpSpecificSpeed;
+        } else if (wpSpecificSpeed >= 50) {  // min allowed speed of 0.5 m/s for multirotor
+            return MIN(wpSpecificSpeed, navConfig()->general.max_auto_speed);
         }
     }
 
@@ -4446,11 +4450,11 @@ void applyWaypointNavigationAndAltitudeHold(void)
         applyRoverBoatNavigationController(navStateFlags, currentTimeUs);
     } else if (STATE(FIXED_WING_LEGACY)) {
         applyFixedWingNavigationController(navStateFlags, currentTimeUs);
-        applyAutoSpeedThrottleDemand(&rcCommand[THROTTLE], currentTimeUs);
     }
     else {
         applyMulticopterNavigationController(navStateFlags, currentTimeUs);
     }
+    applyAutoSpeedThrottleDemand(&rcCommand[THROTTLE], currentTimeUs);
 
     /* Consume position data */
     if (posControl.flags.horizontalPositionDataConsumed)
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 1db29a37330..ceda1d174b3 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -73,7 +73,8 @@ static float throttleSpeedAdjustment = 0;
 static bool isAutoThrottleManuallyIncreased = false;
 static float navCrossTrackError;
 static int8_t loiterDirYaw = 1;
-bool needToCalculateCircularLoiter;
+static bool needToCalculateCircularLoiter;
+static bool autoSpeedIsActive = false;
 
 // Calculates the cutoff frequency for smoothing out roll/pitch commands
 // control_smoothness valid range from 0 to 9
@@ -887,18 +888,38 @@ void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
  * Auto Speed mode control
  *-----------------------------------------------------------*/
 bool isFixedwingAutoSpeedActive(void)
+{
+    return autoSpeedIsActive;
+}
+
+static int8_t isAutoSpeedRequiredByNav(void)
+{
+    int8_t result = -1;
+    if (FLIGHT_MODE(NAV_WP_MODE) && getActiveSpeed() > 0) {
+        result = FW_AUTO_SPD_GROUND;
+    }
+
+    return result;
+}
+
+static bool isAutoSpeedEnabled(void)
 {
     bool thrStickEmergStop = navConfig()->fw.auto_speed_channel != (THROTTLE + 1) && throttleStickIsLow();
+    bool autoSpeedRequested = IS_RC_MODE_ACTIVE(BOXAUTOSPEED) || isAutoSpeedRequiredByNav() >= 0;
 
-    return STATE(AIRPLANE) && ARMING_FLAG(ARMED) && IS_RC_MODE_ACTIVE(BOXAUTOSPEED) && isProbablyStillFlying() && !thrStickEmergStop &&
-            !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(SOARING_MODE) && !FLIGHT_MODE(MANUAL_MODE) &&
-            posControl.flags.estVelStatus == EST_TRUSTED && posControl.flags.estAltStatus == EST_TRUSTED &&
-            !(navigationRequiresAutoThrottleMode() && !(navGetCurrentStateFlags() & NAV_CTL_SPEED));
+    return ARMING_FLAG(ARMED) && autoSpeedRequested && isProbablyStillFlying() && !thrStickEmergStop &&
+           !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(SOARING_MODE) && !FLIGHT_MODE(MANUAL_MODE) &&
+           posControl.flags.estVelStatus == EST_TRUSTED && posControl.flags.estAltStatus == EST_TRUSTED &&
+           !(navigationRequiresAutoThrottleMode() && !(navGetCurrentStateFlags() & NAV_CTL_SPEED));
 }
 
 void applyAutoSpeedThrottleDemand(int16_t *throttleCommand, timeUs_t currentTimeUs)
 {
-    if (!isFixedwingAutoSpeedActive()) return;
+    if (!STATE(AIRPLANE) || !isAutoSpeedEnabled()) {
+        autoSpeedIsActive = false;
+        return;
+    }
+    autoSpeedIsActive = true;
 
     static uint16_t autoSpeedThrottleCommand = PWM_RANGE_MIDDLE;
 
@@ -918,7 +939,14 @@ void applyAutoSpeedThrottleDemand(int16_t *throttleCommand, timeUs_t currentTime
         uint16_t minThrottle = MAX(getThrottleIdleValue(), currentBatteryProfile->nav.fw.min_throttle);
         uint16_t maxThrottle = currentBatteryProfile->nav.fw.max_throttle;
 
-        posControl.desiredState.autoSpeedDemand = scaleRange(rxGetChannelValue(navConfig()->fw.auto_speed_channel - 1), PWM_RANGE_MIN, PWM_RANGE_MAX, minSpeed, maxSpeed);
+        bool useAirSpeed = !LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_DISABLE_AUTOSPEED_AIRSPEED);
+        if (IS_RC_MODE_ACTIVE(BOXAUTOSPEED)) {
+            posControl.desiredState.autoSpeedDemand = scaleRange(rxGetChannelValue(navConfig()->fw.auto_speed_channel - 1), PWM_RANGE_MIN, PWM_RANGE_MAX, minSpeed, maxSpeed);
+        } else {
+            posControl.desiredState.autoSpeedDemand = constrain(getActiveSpeed(), minSpeed, maxSpeed);
+            useAirSpeed = isAutoSpeedRequiredByNav() == FW_AUTO_SPD_AIR;
+        }
+
         uint16_t actualSpeed = posControl.actualState.vel3D;
         posControl.autoSpeedSpdSource = FW_AUTO_SPD_GROUND;
         uint16_t groundSpeedBoost = 0;
@@ -926,8 +954,9 @@ void applyAutoSpeedThrottleDemand(int16_t *throttleCommand, timeUs_t currentTime
 #ifdef USE_PITOT
         if (pitotValidateAirspeed()) {
             static bool airspeedBoost = false;
+
             // Pitot available and airspeed source selected or low airspeed boost applied when using ground speed source
-            if (!LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_DISABLE_AUTOSPEED_AIRSPEED) || airspeedBoost) {
+            if (useAirSpeed || airspeedBoost) {
                 actualSpeed = getAirspeedEstimate();
                 if (airspeedBoost && actualSpeed > minSpeed) {
                     airspeedBoost = false;