diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 6d6ba8da38..eaaec07da1 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -343,6 +343,14 @@ MissionBlock::is_mission_item_reached()
 				_waypoint_yaw_reached = true;
 			}
 
+			// Always accept yaw during takeoff
+			// TODO: Ideally Navigator would handle a yaw reset and adjust its yaw setpoint, making the
+			// following no longer necessary.
+			// FlightTaskAuto is currently also ignoring the yaw setpoint during takeoff and thus "handling" it.
+			if (_mission_item.nav_cmd == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF) {
+				_waypoint_yaw_reached = true;
+			}
+
 			/* if heading needs to be reached, the timeout is enabled and we don't make it, abort mission */
 			if (!_waypoint_yaw_reached && _mission_item.force_heading &&
 			    (_navigator->get_yaw_timeout() >= FLT_EPSILON) &&