diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 1dd3a9fb8f..86d7e14427 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -128,7 +128,9 @@ MissionBlock::is_mission_item_reached()
 
 	hrt_abstime now = hrt_absolute_time();
 
-	if (!_waypoint_position_reached) {
+	if ((_navigator->get_vstatus()->condition_landed == false)
+		&& !_waypoint_position_reached) {
+
 		float dist = -1.0f;
 		float dist_xy = -1.0f;
 		float dist_z = -1.0f;