diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index b882cc08c4..350706f263 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1676,7 +1676,8 @@ FixedwingPositionControl::task_main()
 				float turn_distance = _l1_control.switch_distance(100.0f);
 
 				/* lazily publish navigation capabilities */
-				if (fabsf(turn_distance - _nav_capabilities.turn_distance) > FLT_EPSILON && turn_distance > 0) {
+				if ((hrt_elapsed_time(&_nav_capabilities.timestamp) > 1000000) || (fabsf(turn_distance - _nav_capabilities.turn_distance) > FLT_EPSILON
+					&& turn_distance > 0)) {
 
 					/* set new turn distance */
 					_nav_capabilities.turn_distance = turn_distance;
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index e05d079a0a..97baa1235f 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -582,7 +582,7 @@ Navigator::get_acceptance_radius(float mission_item_radius)
 {
 	float radius = mission_item_radius;
 
-	if (hrt_elapsed_time(&_nav_caps.timestamp) < 1000000) {
+	if (hrt_elapsed_time(&_nav_caps.timestamp) < 5000000) {
 		if (_nav_caps.turn_distance > radius) {
 			radius = _nav_caps.turn_distance;
 		}