diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 9b8d3d9c70..26a5735446 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -42,6 +42,8 @@
 #include <string.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include <math.h>
+#include <float.h>
 
 #include <systemlib/err.h>
 #include <geo/geo.h>
@@ -222,7 +224,7 @@ MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet
 	}
 
     if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER
-            || pos_sp_triplet->current.loiter_radius != _navigator->get_loiter_radius()
+            || (fabsf(pos_sp_triplet->current.loiter_radius - _navigator->get_loiter_radius()) > FLT_EPSILON)
             || pos_sp_triplet->current.loiter_direction != 1
             || pos_sp_triplet->previous.valid
             || !pos_sp_triplet->current.valid
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 043f773a43..597a2c0ec2 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -227,7 +227,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet)
 		_navigator->set_can_loiter_at_sp(true);
 
 		if (autoland) {
-			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", _mission_item.time_inside);
+			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", (double)_mission_item.time_inside);
 
 		} else {
 			mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, loiter");