diff --git a/src/k1link/simulation/px4_rover_control.py b/src/k1link/simulation/px4_rover_control.py
index 748093b..98dcdd7 100644
--- a/src/k1link/simulation/px4_rover_control.py
+++ b/src/k1link/simulation/px4_rover_control.py
@@ -240,6 +240,7 @@ class Ros2Px4AckermannControl:
                     speed_mps = self._latest_speed_mps
                     steering_normalized = self._latest_steering_normalized
                     disarm_requested = self._disarm_requested
+                    control_confirmed = self._armed and self._offboard
                 timestamp_us = int(node.get_clock().now().nanoseconds // 1_000)
                 self._publish_setpoint(
                     messages,
@@ -255,7 +256,7 @@ class Ros2Px4AckermannControl:
                 heartbeat_count += 1
                 if (
                     heartbeat_count >= OFFBOARD_WARMUP_HEARTBEATS
-                    and not self._control_ready.is_set()
+                    and not control_confirmed
                     and now_monotonic - last_mode_request_monotonic >= 1.0
                 ):
                     self._publish_vehicle_command(