diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 47cf2d115e..84992bd4a0 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -862,7 +862,9 @@ Navigator::get_acceptance_radius(float mission_item_radius)
 
 	const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
 
-	if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp) && pos_ctrl_status.acceptance_radius > radius) {
+	if (_vstatus.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
+	    && (pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
+	    && pos_ctrl_status.acceptance_radius > radius) {
 		radius = pos_ctrl_status.acceptance_radius;
 	}