diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp
index f152234da2..2bde007358 100644
--- a/src/modules/navigator/takeoff.cpp
+++ b/src/modules/navigator/takeoff.cpp
@@ -149,7 +149,12 @@ Takeoff::set_takeoff_position()
 		memset(rep, 0, sizeof(*rep));
 	}
 
-	_navigator->set_can_loiter_at_sp(true);
+	if (PX4_ISFINITE(pos_sp_triplet->current.lat) && PX4_ISFINITE(pos_sp_triplet->current.lon)) {
+		_navigator->set_can_loiter_at_sp(true);
+
+	} else {
+		_navigator->set_can_loiter_at_sp(false);
+	}
 
 	_navigator->set_position_setpoint_triplet_updated();
 }