diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 5e6a9082d4..c3c009adb5 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2011,7 +2011,9 @@ void Commander::checkForMissionUpdate()
 					_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION);
 
 				} else {
-					_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER);
+					// Transition to loiter when the takeoff is completed (force into the Loiter, if mode is not executable then failsafe).
+					_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, ModeChangeSource::ModeExecutor, false,
+								    true);
 				}
 
 			} else if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {