diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp
index b028c7fb35..52e853733e 100644
--- a/src/modules/navigator/rtl_direct.cpp
+++ b/src/modules/navigator/rtl_direct.cpp
@@ -337,6 +337,8 @@ void RtlDirect::set_rtl_item()
 			_navigator->set_position_setpoint_triplet_updated();
 		}
 	}
+
+	publish_rtl_direct_navigator_mission_item(); // for logging
 }
 
 RtlDirect::RTLState RtlDirect::getActivationLandState()
@@ -515,3 +517,32 @@ loiter_point_s RtlDirect::sanitizeLandApproach(loiter_point_s land_approach) con
 
 	return sanitized_land_approach;
 }
+
+void RtlDirect::publish_rtl_direct_navigator_mission_item()
+{
+	navigator_mission_item_s navigator_mission_item{};
+
+	navigator_mission_item.sequence_current = static_cast<uint16_t>(_rtl_state);
+	navigator_mission_item.nav_cmd = _mission_item.nav_cmd;
+	navigator_mission_item.latitude = _mission_item.lat;
+	navigator_mission_item.longitude = _mission_item.lon;
+	navigator_mission_item.altitude = _mission_item.altitude;
+
+	navigator_mission_item.time_inside = get_time_inside(_mission_item);
+	navigator_mission_item.acceptance_radius = _mission_item.acceptance_radius;
+	navigator_mission_item.loiter_radius = _mission_item.loiter_radius;
+	navigator_mission_item.yaw = _mission_item.yaw;
+
+	navigator_mission_item.frame = _mission_item.frame;
+	navigator_mission_item.frame = _mission_item.origin;
+
+	navigator_mission_item.loiter_exit_xtrack = _mission_item.loiter_exit_xtrack;
+	navigator_mission_item.force_heading = _mission_item.force_heading;
+	navigator_mission_item.altitude_is_relative = _mission_item.altitude_is_relative;
+	navigator_mission_item.autocontinue = _mission_item.autocontinue;
+	navigator_mission_item.vtol_back_transition = _mission_item.vtol_back_transition;
+
+	navigator_mission_item.timestamp = hrt_absolute_time();
+
+	_navigator_mission_item_pub.publish(navigator_mission_item);
+}
diff --git a/src/modules/navigator/rtl_direct.h b/src/modules/navigator/rtl_direct.h
index 211b2779ea..b1f6a75b81 100644
--- a/src/modules/navigator/rtl_direct.h
+++ b/src/modules/navigator/rtl_direct.h
@@ -47,6 +47,7 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/home_position.h>
+#include <uORB/topics/navigator_mission_item.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/rtl_time_estimate.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -137,6 +138,12 @@ private:
 	 */
 	void parameters_update();
 
+	/**
+	 * @brief Publish navigator mission item
+	 *
+	 */
+	void publish_rtl_direct_navigator_mission_item();
+
 	RTLState getActivationLandState();
 
 	void setLoiterPosition();
@@ -167,4 +174,5 @@ private:
 	uORB::SubscriptionData<vehicle_land_detected_s> _land_detected_sub{ORB_ID(vehicle_land_detected)};	/**< vehicle land detected subscription */
 	uORB::SubscriptionData<vehicle_status_s> _vehicle_status_sub{ORB_ID(vehicle_status)};	/**< vehicle status subscription */
 	uORB::SubscriptionData<wind_s>		_wind_sub{ORB_ID(wind)};
+	uORB::Publication<navigator_mission_item_s> _navigator_mission_item_pub{ORB_ID::navigator_mission_item}; /**< Navigator mission item publication*/
 };