diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp
index daac61e933..2ad4408378 100644
--- a/src/modules/navigator/mission_base.cpp
+++ b/src/modules/navigator/mission_base.cpp
@@ -553,7 +553,9 @@ void MissionBase::setEndOfMissionItems()
 		_mission_item.nav_cmd = NAV_CMD_IDLE;
 
 	} else {
-		if (pos_sp_triplet->current.valid && pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
+		if (pos_sp_triplet->current.valid &&
+		    (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER ||
+		     pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_POSITION)) {
 			setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
 
 		} else {