diff --git a/src/modules/navigator/rtl_mission_fast_reverse.cpp b/src/modules/navigator/rtl_mission_fast_reverse.cpp
index c27cd38b56..6abf4cf10f 100644
--- a/src/modules/navigator/rtl_mission_fast_reverse.cpp
+++ b/src/modules/navigator/rtl_mission_fast_reverse.cpp
@@ -251,6 +251,11 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
 			_mission_item.lon = _home_pos_sub.get().lon;
 			_mission_item.yaw = NAN;
 
+			// make previous and next setpoints invalid, such that there will be no line following.
+			// If the vehicle drifted off the path during back-transition it should just go straight to the landing point.
+			_navigator->reset_position_setpoint(pos_sp_triplet->previous);
+			_navigator->reset_position_setpoint(pos_sp_triplet->next);
+
 			if ((_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) &&
 			    do_need_move_to_item()) {
 				new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND;
@@ -261,15 +266,9 @@ void RtlMissionFastReverse::handleLanding(WorkItemType &new_work_item_type)
 				_mission_item.autocontinue = true;
 				_mission_item.time_inside = 0.0f;
 
-				// make previous setpoint invalid, such that there will be no prev-current line following.
-				// if the vehicle drifted off the path during back-transition it should just go straight to the landing point
-				_navigator->reset_position_setpoint(pos_sp_triplet->previous);
-
 			} else {
 				_mission_item.altitude = _home_pos_sub.get().alt;
 				_mission_item.altitude_is_relative = false;
-				_navigator->reset_position_setpoint(pos_sp_triplet->previous);
-				_navigator->reset_position_setpoint(pos_sp_triplet->next);
 
 				_mission_item.land_precision = _param_rtl_pld_md.get();