diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index c144224fe6..3fc6db8af9 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -508,7 +508,14 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
 	sp->loiter_radius = (fabsf(item.loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item.loiter_radius) :
 			    _navigator->get_loiter_radius();
 	sp->loiter_direction = (item.loiter_radius > 0) ? 1 : -1;
-	sp->acceptance_radius = item.acceptance_radius;
+
+	if (item.acceptance_radius > 0.0f && PX4_ISFINITE(item.acceptance_radius)) {
+		// if the mission item has a specified acceptance radius, overwrite the default one from parameters
+		sp->acceptance_radius = item.acceptance_radius;
+
+	} else {
+		sp->acceptance_radius = _navigator->get_default_acceptance_radius();
+	}
 
 	sp->cruising_speed = _navigator->get_cruising_speed();
 	sp->cruising_throttle = _navigator->get_cruising_throttle();