diff --git a/APMrover2/Steering.cpp b/APMrover2/Steering.cpp
index 191c5bf388..2f1e16a122 100644
--- a/APMrover2/Steering.cpp
+++ b/APMrover2/Steering.cpp
@@ -83,10 +83,11 @@ bool Rover::in_stationary_loiter()
     // Confirm we are in AUTO mode and need to loiter for a time period
     if ((loiter_start_time > 0) && (control_mode == AUTO)) {
         // Check if active loiter is enabled AND we are outside the waypoint loiter radius
-        // then NOT the result for the if logic
-        if (!(active_loiter && (wp_distance > g.waypoint_radius))) {
-            return true;
+        // then the vehicle still needs to move so return false
+        if (active_loiter && (wp_distance > g.waypoint_radius)) {
+            return false;
         }
+        return true;
     }
 
     return false;
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index fe17429b5c..7e2fb54e38 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -288,7 +288,10 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
     // have we gone past the waypoint?
     // We should always go through the waypoint i.e. the above code
     // first before we go past it but sometimes we don't.
-    if (location_passed_point(current_loc, prev_WP, next_WP)) {
+    // OR have we reached the waypoint previously be we aren't actively loitering
+    // This second check is required for when we roll past the waypoint radius
+    if (location_passed_point(current_loc, prev_WP, next_WP) ||
+        (!active_loiter && previously_reached_wp)) {
         // As we have passed the waypoint navigation needs to be done from current location
         prev_WP = current_loc;
         // Check if this is the first time we have reached the waypoint even though we have gone past it