diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 84d95ae5a3..c2b17bbedb 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -1030,6 +1030,7 @@ void MissionBlock::updateAltToAvoidTerrainCollisionAndRepublishTriplet(mission_i
 
 	if (_navigator->get_nav_min_gnd_dist_param() > FLT_EPSILON && _mission_item.nav_cmd != NAV_CMD_LAND
 	    && _mission_item.nav_cmd != NAV_CMD_VTOL_LAND && _mission_item.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION
+	    && _mission_item.nav_cmd != NAV_CMD_IDLE
 	    && _navigator->get_local_position()->dist_bottom_valid
 	    && _navigator->get_local_position()->dist_bottom < _navigator->get_nav_min_gnd_dist_param()
 	    && _navigator->get_local_position()->vz > FLT_EPSILON