diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp
index c1262d42b2..8753f3751c 100644
--- a/src/modules/navigator/mission_base.cpp
+++ b/src/modules/navigator/mission_base.cpp
@@ -1460,25 +1460,26 @@ bool MissionBase::canRunMissionFeasibility()
 void MissionBase::updateMissionAltAfterHomeChanged()
 {
 	if (_navigator->get_home_position()->update_count > _home_update_counter) {
-		float new_alt = get_absolute_altitude_for_item(_mission_item);
-		float altitude_diff = new_alt - _navigator->get_position_setpoint_triplet()->current.alt;
 
-		if (_navigator->get_position_setpoint_triplet()->previous.valid
-		    && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->previous.alt)) {
-			_navigator->get_position_setpoint_triplet()->previous.alt = _navigator->get_position_setpoint_triplet()->previous.alt +
-					altitude_diff;
+		if (item_contains_position(_mission_item)) {
+			const float new_alt = get_absolute_altitude_for_item(_mission_item);
+			const float altitude_diff = new_alt - _navigator->get_position_setpoint_triplet()->current.alt;
+
+			if (_navigator->get_position_setpoint_triplet()->previous.valid
+			    && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->previous.alt)) {
+				_navigator->get_position_setpoint_triplet()->previous.alt += altitude_diff;
+			}
+
+			_navigator->get_position_setpoint_triplet()->current.alt += altitude_diff;
+
+			if (_navigator->get_position_setpoint_triplet()->next.valid
+			    && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->next.alt)) {
+				_navigator->get_position_setpoint_triplet()->next.alt += altitude_diff;
+			}
+
+			_navigator->set_position_setpoint_triplet_updated();
 		}
 
-		_navigator->get_position_setpoint_triplet()->current.alt = _navigator->get_position_setpoint_triplet()->current.alt +
-				altitude_diff;
-
-		if (_navigator->get_position_setpoint_triplet()->next.valid
-		    && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->next.alt)) {
-			_navigator->get_position_setpoint_triplet()->next.alt = _navigator->get_position_setpoint_triplet()->next.alt +
-					altitude_diff;
-		}
-
-		_navigator->set_position_setpoint_triplet_updated();
 		_home_update_counter = _navigator->get_home_position()->update_count;
 	}
 }