diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 356f2b5ca7..26455e5176 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -519,6 +519,7 @@ MissionBlock::mission_item_to_position_setpoint(const struct mission_item_s *ite
 	sp->lon = item->lon;
 	sp->alt = item->altitude_is_relative ? item->altitude + _navigator->get_home_position()->alt : item->altitude;
 	sp->yaw = item->yaw;
+	sp->yaw_valid = !PX4_ISFINITE(item->yaw);
 	sp->loiter_radius = (fabsf(item->loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item->loiter_radius) :
 			    _navigator->get_loiter_radius();
 	sp->loiter_direction = (item->loiter_radius > 0) ? 1 : -1;