diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 401fe0899d..8640051177 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -442,8 +442,9 @@ Mission::set_mission_items()
 	if (item_contains_position(&_mission_item)) {
 
 		/* force vtol land */
-		if(_mission_item.nav_cmd == NAV_CMD_LAND && _param_force_vtol.get()
-				&& !_navigator->get_vstatus()->is_rotary_wing){
+		if (_mission_item.nav_cmd == NAV_CMD_LAND && _navigator->get_vstatus()->is_vtol
+			&& _param_force_vtol.get() && !_navigator->get_vstatus()->is_rotary_wing) {
+
 			_mission_item.nav_cmd = NAV_CMD_VTOL_LAND;
 		}
 
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index ae1820a4a6..f00e05d1fe 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -344,7 +344,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
 {
 	/* set the correct setpoint for vtol transition */
 
-	if(item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION && PX4_ISFINITE(item->yaw)
+	if (item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION && PX4_ISFINITE(item->yaw)
 			&& item->params[0] >= vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW - 0.5f) {
 		sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
 		waypoint_from_heading_and_distance(_navigator->get_global_position()->lat,
@@ -389,7 +389,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
 	case NAV_CMD_LAND:
 	case NAV_CMD_VTOL_LAND:
 		sp->type = position_setpoint_s::SETPOINT_TYPE_LAND;
-		if(_navigator->get_vstatus()->is_vtol && _param_vtol_wv_land.get()){
+		if (_navigator->get_vstatus()->is_vtol && _param_vtol_wv_land.get()) {
 			sp->disable_mc_yaw_control = true;
 		}
 		break;
@@ -398,7 +398,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
 	case NAV_CMD_LOITER_TURN_COUNT:
 	case NAV_CMD_LOITER_UNLIMITED:
 		sp->type = position_setpoint_s::SETPOINT_TYPE_LOITER;
-		if(_navigator->get_vstatus()->is_vtol && _param_vtol_wv_loiter.get()){
+		if (_navigator->get_vstatus()->is_vtol && _param_vtol_wv_loiter.get()) {
 			sp->disable_mc_yaw_control = true;
 		}
 		break;
@@ -529,7 +529,7 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
 {
 
 	/* VTOL transition to RW before landing */
-	if(_navigator->get_vstatus()->is_vtol && !_navigator->get_vstatus()->is_rotary_wing){
+	if (_navigator->get_vstatus()->is_vtol && !_navigator->get_vstatus()->is_rotary_wing) {
 		struct vehicle_command_s cmd = {};
 		cmd.command = NAV_CMD_DO_VTOL_TRANSITION;
 		cmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;