diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 5139ae6cd2..260356eca9 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1080,9 +1080,8 @@ Navigator::start_loiter()
 			mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude");
 		}
 
-		_pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER;
 	}
-
+	_pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER;
 	_pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius;
 	_pos_sp_triplet.current.loiter_direction = 1;
 	_pos_sp_triplet.previous.valid = false;