diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 81fc3dbff1..3667f4e6fb 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -621,6 +621,10 @@ Mission::set_mission_items()
 			_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
 			/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
 			_mission_item.yaw = NAN;
+			/* since _mission_item.time_inside and and _mission_item.pitch_min build a union, we need to set time_inside to zero
+			 * since in NAV_CMD_TAKEOFF mode there is currently no time_inside.
+			 */
+			_mission_item.time_inside = 0.0f;
 		}
 
 		/* if we just did a VTOL takeoff, prepare transition */