diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 4d4feb0c36..3e876426a5 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -520,7 +520,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
 
 		// if already flying (armed and !landed) treat TAKEOFF like regular POSITION
 		if ((_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED)
-		    && !_navigator->get_land_detected()->landed) {
+		    && !_navigator->get_land_detected()->landed && !_navigator->get_land_detected()->maybe_landed) {
 
 			sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION;