diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 1b05628a6c..db881b731a 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -206,8 +206,9 @@ MissionBlock::is_mission_item_reached_or_completed()
 				_waypoint_position_reached = true;
 			}
 
-		} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
-			   && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
+		} else if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF &&
+			   (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER ||
+			    _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT)) {
 			// Accept takeoff waypoint to be reached if the distance in 2D plane is within acceptance radius
 			if (dist_xy >= 0.0f && dist_xy <= _navigator->get_acceptance_radius()) {
 				_waypoint_position_reached = true;
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 201eeb6123..06d38c4503 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1139,7 +1139,8 @@ float Navigator::get_altitude_acceptance_radius()
 
 	} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) {
 		return INFINITY;
-
+	} else if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_BOAT) {
+		return INFINITY;
 	} else {
 		float alt_acceptance_radius = _param_nav_mc_alt_rad.get();