diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index 4b0a90a3a2..0d1808f13b 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -110,7 +110,12 @@ Loiter::set_loiter_position()
 			setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
 
 		} else {
-			setLoiterItemFromCurrentPositionWithBreaking(&_mission_item);
+			if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
+				setLoiterItemFromCurrentPositionWithBreaking(&_mission_item);
+
+			} else {
+				setLoiterItemFromCurrentPosition(&_mission_item);
+			}
 		}
 
 	}