diff --git a/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
index ce5261fa5b..2c5855533b 100644
--- a/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
@@ -277,10 +277,12 @@ bool FlightTaskAuto::_evaluateTriplets()
 		_yaw_setpoint = NAN;
 
 	} else {
-		if (_type != WaypointType::takeoff
+		if ((_type != WaypointType::takeoff || _sub_triplet_setpoint.get().current.disable_weather_vane)
 		    && _sub_triplet_setpoint.get().current.yaw_valid) {
 			// Use the yaw computed in Navigator except during takeoff because
-			// Navigator is not handling the yaw reset properly
+			// Navigator is not handling the yaw reset properly.
+			// But: use if from Navigator during takeoff if disable_weather_vane is true,
+			// because we're then aligning to the transition waypoint.
 			// TODO: fix in navigator
 			_yaw_setpoint = _sub_triplet_setpoint.get().current.yaw;