diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 4d4feb0c36..3e876426a5 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -520,7 +520,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
 
 		// if already flying (armed and !landed) treat TAKEOFF like regular POSITION
 		if ((_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED)
-		    && !_navigator->get_land_detected()->landed) {
+		    && !_navigator->get_land_detected()->landed && !_navigator->get_land_detected()->maybe_landed) {
 
 			sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
 
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 7732fad241..86ce3b9b7b 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -72,8 +72,9 @@ RTL::rtl_type() const
 void
 RTL::on_activation()
 {
-	if (_navigator->get_land_detected()->landed) {
-		// for safety reasons don't go into RTL if landed
+	if (_navigator->get_land_detected()->landed
+	    || (_navigator->get_position_setpoint_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND)) {
+		// for safety reasons don't go into RTL if landed or currently in landing
 		_rtl_state = RTL_STATE_LANDED;
 
 	} else if ((rtl_type() == RTL_LAND) && _navigator->on_mission_landing()) {