diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 117401a3d1..783576bacb 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -770,8 +770,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 
 		if (status->engine_failure) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
-		} else if ((!status->condition_global_position_valid ||
-					!status->condition_home_position_valid)) {
+		} else if (!status->condition_global_position_valid) {
 			status->failsafe = true;
 
 			if (status->condition_local_position_valid) {
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index e3eba9c45e..b4ed4103d3 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -720,7 +720,6 @@ MulticopterPositionControl::reset_pos_sp()
 		// we have logic in the main function which chooses the velocity setpoint such that the attitude setpoint is
 		// continuous when switching into velocity controlled mode, therefore, we don't need to bother about resetting
 		// position in a special way. In position control mode the position will be reset anyway until the vehicle has reduced speed.
-
 		_pos_sp(0) = _pos(0);
 		_pos_sp(1) = _pos(1);
 	}
@@ -1387,7 +1386,8 @@ MulticopterPositionControl::task_main()
 				/* make sure velocity setpoint is saturated in xy*/
 				float vel_norm_xy = sqrtf(_vel_sp(0) * _vel_sp(0) +  _vel_sp(1) * _vel_sp(1));
 
-                if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET) {
+                if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET &&
+                    _pos_sp_triplet.current.velocity_valid) {
                     _vel_sp(0) = _pos_sp_triplet.current.vx;
                     _vel_sp(1) = _pos_sp_triplet.current.vy;
                 } else if (vel_norm_xy > _params.vel_max(0)) {
diff --git a/src/modules/navigator/follow_target.cpp b/src/modules/navigator/follow_target.cpp
index 98be7bd89e..b67836265a 100644
--- a/src/modules/navigator/follow_target.cpp
+++ b/src/modules/navigator/follow_target.cpp
@@ -60,7 +60,7 @@ FollowTarget::FollowTarget(Navigator *navigator, const char *name) :
     MissionBlock(navigator, name),
 	_navigator(navigator),
 	_param_min_alt(this, "MIS_TAKEOFF_ALT", false),
-	_follow_target_state(ACSEND),
+	_follow_target_state(ASCEND),
 	_follow_target_sub(-1),
 	_step_time_in_ms(0.0f),
 	_previous_target_gps_pos_valid(false),
@@ -85,7 +85,7 @@ void
 FollowTarget::on_inactive()
 {
     _previous_target_gps_pos_valid = false;
-    _follow_target_state = ACSEND;
+    _follow_target_state = ASCEND;
 }
 
 void
@@ -151,7 +151,7 @@ FollowTarget::on_active() {
             }
             break;
         }
-        case ACSEND:
+        case ASCEND:
         {
             // ascend to the minimum altitude
 
diff --git a/src/modules/navigator/follow_target.h b/src/modules/navigator/follow_target.h
index 0a16b4d966..4dd71fddd9 100644
--- a/src/modules/navigator/follow_target.h
+++ b/src/modules/navigator/follow_target.h
@@ -66,7 +66,7 @@ private:
     static constexpr float FF_K = .15f;
 
     enum FollowTargetState {
-        ACSEND,
+        ASCEND,
         TRACK_POSITION,
         TRACK_VELOCITY,
         TARGET_TIMEOUT
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index aac9439563..d0d307e21b 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -228,7 +228,6 @@ MissionBlock::is_mission_item_reached()
 
 	/* Once the waypoint and yaw setpoint have been reached we can start the loiter time countdown */
 	if (_waypoint_position_reached && _waypoint_yaw_reached) {
-	    return true;
 		if (_time_first_inside_orbit == 0) {
 			_time_first_inside_orbit = now;
 
@@ -239,7 +238,7 @@ MissionBlock::is_mission_item_reached()
 		}
 
 		/* check if the MAV was long enough inside the waypoint orbit */
-		if ((now - _time_first_inside_orbit >= (hrt_abstime)_mission_item.time_inside * 1e6f)) {
+		if (now - _time_first_inside_orbit >= (hrt_abstime)_mission_item.time_inside * 1e6f) {
 			return true;
 		}
 	}