diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 3f8951e7c9..c0d764319a 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -820,15 +820,10 @@ Mission::set_mission_items()
 				} else if (_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
 					   && _work_item_type == WORK_ITEM_TYPE_DEFAULT
 					   && new_work_item_type == WORK_ITEM_TYPE_DEFAULT) {
+					// if the vehicle is already in fixed wing mode then the current mission item
+					// will be accepted immediately and the work items will be skipped
+					_work_item_type = WORK_ITEM_TYPE_TAKEOFF;
 
-					if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
-						/* haven't transitioned yet, trigger vtol takeoff logic below */
-						_work_item_type = WORK_ITEM_TYPE_TAKEOFF;
-
-					} else {
-						/* already in fixed-wing, go to waypoint */
-						_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
-					}
 
 					/* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */
 					_mission_item.yaw = NAN;
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 903948e263..d04741776f 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -129,6 +129,13 @@ MissionBlock::is_mission_item_reached()
 			return false;
 		}
 
+	case NAV_CMD_VTOL_TAKEOFF:
+		if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
+			return true;
+		}
+
+		break;
+
 	case NAV_CMD_DELAY:
 		// Set reached flags directly such that only the delay time is considered
 		_waypoint_position_reached = true;