diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index ff5eb2d351..fa986af6d7 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -328,9 +328,9 @@ MissionBlock::is_mission_item_reached()
 
 	if (_waypoint_position_reached && !_waypoint_yaw_reached) {
 
-		if ((_navigator->get_vstatus()->is_rotary_wing
-		     || (_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT && _mission_item.force_heading))
-		    && PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw))) {
+		if ((_navigator->get_vstatus()->is_rotary_wing && PX4_ISFINITE(_navigator->get_yaw_acceptance(_mission_item.yaw)))
+		    || ((_mission_item.nav_cmd == NAV_CMD_LOITER_TO_ALT) && _mission_item.force_heading
+			&& PX4_ISFINITE(_mission_item.yaw))) {
 
 			/* check course if defined only for rotary wing except takeoff */
 			float cog = _navigator->get_vstatus()->is_rotary_wing ? _navigator->get_global_position()->yaw : atan2f(