diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 7fac69a611..b8e3274fdb 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -707,6 +707,7 @@ Mission::set_mission_item_reached()
 	_navigator->get_mission_result()->reached = true;
 	_navigator->get_mission_result()->seq_reached = _current_offboard_mission_index;
 	_navigator->publish_mission_result();
+	reset_mission_item_reached();
 }
 
 void
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index eff3a59383..e933919fb4 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -630,8 +630,6 @@ Navigator::publish_mission_result()
 		/* advertise and publish */
 		_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
 	}
-	/* reset reached bool */
-	_mission_result.reached = false;
 }
 
 void