diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 3a6abd5fa7..86ba14679e 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -691,11 +691,11 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude,
 	/* use current position */
 	item->lat = _navigator->get_global_position()->lat;
 	item->lon = _navigator->get_global_position()->lon;
+	item->yaw = _navigator->get_global_position()->yaw;
 
 	item->altitude = abs_altitude;
 	item->altitude_is_relative = false;
 
-	item->yaw = NAN;
 	item->loiter_radius = _navigator->get_loiter_radius();
 	item->pitch_min = min_pitch;
 	item->autocontinue = false;
diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp
index 659b837542..a006d306de 100644
--- a/src/modules/navigator/takeoff.cpp
+++ b/src/modules/navigator/takeoff.cpp
@@ -141,9 +141,8 @@ Takeoff::set_takeoff_position()
 
 	// convert mission item to current setpoint
 	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
-	pos_sp_triplet->previous.valid = false;
 	mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
-	pos_sp_triplet->current.yaw = _navigator->get_home_position()->yaw;
+	pos_sp_triplet->previous.valid = false;
 	pos_sp_triplet->current.yaw_valid = true;
 	pos_sp_triplet->next.valid = false;