diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index ace13bb784..905d5dee55 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1539,7 +1539,8 @@ check_navigation_state_machine(struct vehicle_status_s *status, struct vehicle_c
 			// TODO AUTO_LAND handling
 			if (status->navigation_state == NAVIGATION_STATE_AUTO_TAKEOFF) {
 				/* don't switch to other states until takeoff not completed */
-				if (local_pos->z > -takeoff_alt || status->condition_landed) {
+				// XXX: only respect the condition_landed when the local position is actually valid
+				if (status->condition_local_altitude_valid && (local_pos->z > -takeoff_alt || status->condition_landed)) {
 					return TRANSITION_NOT_CHANGED;
 				}
 			}
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 0e5f805b46..345a08f7b5 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -711,7 +711,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
 		_tecs.set_speed_weight(_parameters.speed_weight);
 
 		/* execute navigation once we have a setpoint */
-		if (_setpoint_valid) {
+		if (_setpoint_valid && _control_mode.flag_control_auto_enabled) {
 
 			/* current waypoint (the one currently heading for) */
 			math::Vector2f curr_wp(global_triplet.current.lat / 1e7f, global_triplet.current.lon / 1e7f);