diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 47c9bb8c70..97d7c43e7b 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -3495,9 +3495,11 @@ MulticopterPositionControl::use_obstacle_avoidance()
 {
 
 	/* check that external obstacle avoidance is sending data and that the first point is valid */
-	return (_test_obstacle_avoidance.get() && (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) <
-			TRAJECTORY_STREAM_TIMEOUT_US)
-		&& (_traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true));
+	return (_test_obstacle_avoidance.get()
+		&& (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) < TRAJECTORY_STREAM_TIMEOUT_US)
+		&& (_traj_wp_avoidance.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true)
+		&& ((_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) ||
+		    (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)));
 }
 
 bool