diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index b7611dcd19..e9270246f4 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -982,7 +982,10 @@ Mission::set_mission_items()
 					_mission_item.altitude_is_relative = false;
 					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
 					_mission_item.autocontinue = true;
-					_mission_item.time_inside = 0.0f;
+
+					// have to reset here because these field were used in set_vtol_transition_item
+					_mission_item.time_inside = 0.f;
+					_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 
 					// 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
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 919ff71e41..2a94c90619 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -544,6 +544,10 @@ void RTL::set_rtl_item()
 			_mission_item.altitude = loiter_altitude;
 			_mission_item.altitude_is_relative = false;
 
+			// have to reset here because these field were used in set_vtol_transition_item
+			_mission_item.time_inside = 0.f;
+			_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+
 			if (rtl_heading_mode == RTLHeadingMode::RTL_NAVIGATION_HEADING) {
 				_mission_item.yaw = get_bearing_to_next_waypoint(gpos.lat, gpos.lon, _destination.lat, _destination.lon);
 
@@ -554,7 +558,6 @@ void RTL::set_rtl_item()
 				_mission_item.yaw = _navigator->get_local_position()->heading;
 			}
 
-			_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 			_mission_item.origin = ORIGIN_ONBOARD;
 			break;
 		}
diff --git a/src/modules/navigator/vtol_takeoff.cpp b/src/modules/navigator/vtol_takeoff.cpp
index 73b8c46bb7..af106a249d 100644
--- a/src/modules/navigator/vtol_takeoff.cpp
+++ b/src/modules/navigator/vtol_takeoff.cpp
@@ -117,8 +117,9 @@ VtolTakeoff::on_active()
 				// we need the vehicle to loiter indefinitely but also we want this mission item to be reached as soon
 				// as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly,
 				// however it will just continue loitering as there is no next mission item
-				_mission_item.time_inside = 1;
+				_mission_item.time_inside = 1.f;
 				_mission_item.loiter_radius = _navigator->get_loiter_radius();
+				_mission_item.acceptance_radius  = _navigator->get_acceptance_radius();
 				_mission_item.altitude = _navigator->get_home_position()->alt + _param_loiter_alt.get();
 
 				mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);