diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp
index a2110bbcf0..51bfdb0fd8 100644
--- a/src/modules/navigator/loiter.cpp
+++ b/src/modules/navigator/loiter.cpp
@@ -58,7 +58,7 @@ Loiter::Loiter(Navigator *navigator, const char *name) :
 	MissionBlock(navigator, name),
 	_param_min_alt(this, "MIS_LTRMIN_ALT", false)
 {
-	/* load initial params */
+	// load initial params
 	updateParams();
 }
 
@@ -77,10 +77,10 @@ Loiter::on_activation()
 	if (_navigator->get_reposition_triplet()->current.valid) {
 		reposition();
 	} else {
-		/* set current mission item to loiter */
+		// set current mission item to loiter
 		set_loiter_item(&_mission_item, _param_min_alt.get());
 
-		/* convert mission item to current setpoint */
+		// convert mission item to current setpoint
 		struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
 		pos_sp_triplet->current.velocity_valid = false;
 		pos_sp_triplet->previous.valid = false;
@@ -110,6 +110,17 @@ Loiter::reposition()
 	if (rep->current.valid) {
 		// set loiter position based on reposition command
 
+		// convert mission item to current setpoint
+		struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+		pos_sp_triplet->current.velocity_valid = false;
+		memcpy(&pos_sp_triplet->previous, &rep->previous, sizeof(rep->previous));
+		memcpy(&pos_sp_triplet->current, &rep->current, sizeof(rep->current));
+		pos_sp_triplet->next.valid = false;
+
+		_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
+
+		_navigator->set_position_setpoint_triplet_updated();
+
 		// mark this as done
 		memset(rep, 0, sizeof(*rep));
 	}
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 1d61de07c0..b3d04cd69c 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -409,7 +409,6 @@ Navigator::task_main()
 			orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
 
 			if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) {
-				warnx("navigator: got reposition command");
 
 				struct position_setpoint_triplet_s *rep = get_reposition_triplet();
 
@@ -419,10 +418,30 @@ Navigator::task_main()
 				rep->previous.lon = get_global_position()->lon;
 				rep->previous.alt = get_global_position()->alt;
 
-				rep->current.yaw = cmd.param4;
-				rep->current.lat = cmd.param5;
-				rep->current.lon = cmd.param6;
-				rep->current.alt = cmd.param7;
+				// Go on and check which changes had been requested
+				if (isfinite(cmd.param4)) {
+					rep->current.yaw = cmd.param4;
+				} else {
+					rep->current.yaw = NAN;
+				}
+
+				if (isfinite(cmd.param5)) {
+					rep->current.lat = cmd.param5 / (double)1e7;
+				} else {
+					rep->current.lat = get_global_position()->lat;
+				}
+
+				if (isfinite(cmd.param6)) {
+					rep->current.lon = cmd.param6 / (double)1e7;
+				} else {
+					rep->current.lon = get_global_position()->lon;
+				}
+
+				if (isfinite(cmd.param7)) {
+					rep->current.alt = cmd.param7;
+				} else {
+					rep->current.alt = get_global_position()->alt;
+				}
 
 				rep->previous.valid = true;
 				rep->current.valid = true;