diff --git a/src/modules/navigator/rtl_direct_mission_land.cpp b/src/modules/navigator/rtl_direct_mission_land.cpp
index adc681bf2a..c72f70a2ac 100644
--- a/src/modules/navigator/rtl_direct_mission_land.cpp
+++ b/src/modules/navigator/rtl_direct_mission_land.cpp
@@ -122,6 +122,7 @@ void RtlDirectMissionLand::setActiveMissionItems()
 {
 	WorkItemType new_work_item_type{WorkItemType::WORK_ITEM_TYPE_DEFAULT};
 	position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+	const position_setpoint_s current_setpoint_copy = pos_sp_triplet->current;
 
 	// Climb to altitude
 	if (_needs_climbing && _work_item_type == WorkItemType::WORK_ITEM_TYPE_DEFAULT) {
@@ -205,7 +206,6 @@ void RtlDirectMissionLand::setActiveMissionItems()
 			_mission_item.time_inside = 0.0f;
 		}
 
-		pos_sp_triplet->previous = pos_sp_triplet->current;
 
 		if (num_found_items > 0) {
 			mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next);
@@ -213,6 +213,12 @@ void RtlDirectMissionLand::setActiveMissionItems()
 
 		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
 
+		// Only set the previous position item if the current one really changed
+		if ((_work_item_type != WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND) &&
+		!position_setpoint_equal(&pos_sp_triplet->current, &current_setpoint_copy)) {
+			pos_sp_triplet->previous = current_setpoint_copy;
+		}
+
 		// prevent lateral guidance from loitering at a waypoint as part of a mission landing if the altitude
 		// is not achieved.
 		const bool fw_on_mission_landing = _vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING