diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index a657f4ade4..3cb1a3fae3 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -51,7 +51,8 @@ Loiter::Loiter(Navigator *navigator) :
 void
 Loiter::on_activation()
 {
-	if (_navigator->get_reposition_triplet()->current.valid) {
+	if (_navigator->get_reposition_triplet()->current.valid
+	    && hrt_elapsed_time(&_navigator->get_reposition_triplet()->current.timestamp) < 500_ms) {
 		reposition();
 
 	} else {
@@ -66,7 +67,8 @@ Loiter::on_activation()
 void
 Loiter::on_active()
 {
-	if (_navigator->get_reposition_triplet()->current.valid) {
+	if (_navigator->get_reposition_triplet()->current.valid
+	    && hrt_elapsed_time(&_navigator->get_reposition_triplet()->current.timestamp) < 500_ms) {
 		reposition();
 	}
 }