diff --git a/src/modules/navigator/land.cpp b/src/modules/navigator/land.cpp
index 28ffd36d07..d280c942c6 100644
--- a/src/modules/navigator/land.cpp
+++ b/src/modules/navigator/land.cpp
@@ -65,6 +65,9 @@ Land::on_activation()
 	_navigator->set_can_loiter_at_sp(false);
 
 	_navigator->set_position_setpoint_triplet_updated();
+
+	// reset cruising speed to default
+	_navigator->reset_cruising_speed();
 }
 
 void
diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index 07dfc5f3f7..655db702fa 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -63,6 +63,9 @@ Loiter::on_activation()
 	} else {
 		set_loiter_position();
 	}
+
+	// reset cruising speed to default
+	_navigator->reset_cruising_speed();
 }
 
 void
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index e83d04a30d..b7611dcd19 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -204,6 +204,9 @@ Mission::on_activation()
 	cmd.param1 = -1.0f;
 	cmd.param3 = 0.0f;
 	_navigator->publish_vehicle_cmd(&cmd);
+
+	// reset cruise speed
+	_navigator->reset_cruising_speed();
 }
 
 void
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 34ddf90591..919ff71e41 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -289,7 +289,7 @@ void RTL::on_activation()
 	}
 
 	// reset cruising speed and throttle to default for RTL
-	_navigator->set_cruising_speed();
+	_navigator->reset_cruising_speed();
 	_navigator->set_cruising_throttle();
 
 	set_rtl_item();
diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp
index 8c39a2eecc..f998b9c1d9 100644
--- a/src/modules/navigator/takeoff.cpp
+++ b/src/modules/navigator/takeoff.cpp
@@ -51,6 +51,9 @@ void
 Takeoff::on_activation()
 {
 	set_takeoff_position();
+
+	// reset cruising speed to default
+	_navigator->reset_cruising_speed();
 }
 
 void