diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index 66fadb10c4..462a577d31 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -94,7 +94,21 @@ Loiter::set_loiter_position()
 		_mission_item.nav_cmd = NAV_CMD_IDLE;
 
 	} else {
-		if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
+		// Check if we already loiter on a circle and are on the loiter pattern.
+		bool on_loiter{false};
+
+		if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER
+		    && pos_sp_triplet->current.loiter_pattern == position_setpoint_s::LOITER_TYPE_ORBIT) {
+			const float d_current = get_distance_to_next_waypoint(pos_sp_triplet->current.lat, pos_sp_triplet->current.lon,
+						_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
+			on_loiter = d_current <= (_navigator->get_acceptance_radius() + pos_sp_triplet->current.loiter_radius);
+
+		}
+
+		if (on_loiter) {
+			setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
+
+		} else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 			setLoiterItemFromCurrentPositionWithBreaking(&_mission_item);
 
 		} else {
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index b56511fa33..87a9883d7e 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -747,7 +747,8 @@ MissionBlock::setLoiterItemFromCurrentPositionSetpoint(struct mission_item_s *it
 	item->lat = pos_sp_triplet->current.lat;
 	item->lon = pos_sp_triplet->current.lon;
 	item->altitude = pos_sp_triplet->current.alt;
-	item->loiter_radius = pos_sp_triplet->current.loiter_radius;
+	item->loiter_radius = pos_sp_triplet->current.loiter_direction_counter_clockwise ?
+			      -pos_sp_triplet->current.loiter_radius : pos_sp_triplet->current.loiter_radius;
 }
 
 void