A method and device for generating at least one set point from a flight control set point, a motor control set point and an aircraft guidance set point, a related computer program product and an aircraft are disclosed. In one aspect, the method includes acquiring a mechanical property relative to at least one corresponding primary control member and computing at least one set point from among one or more primary set points and one or more secondary set points. The method also includes generating at least one of the computed set point(s) and switching, based on the mechanical property acquired for the corresponding primary control member, between a first mode in which one or more primary set points are generated and a second mode in which one or more secondary set points are generated.