diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 20323672831..db5505ba438 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -908,9 +908,10 @@ MulticopterPositionControl::cross_sphere_line(const math::Vector<3> &sphere_c, f
 
 void MulticopterPositionControl::control_auto(float dt)
 {
+	/* reset position setpoint on AUTO mode activation or when reentering MC mode */
 	if (!_mode_auto || _vehicle_status.in_transition_mode || !_vehicle_status.is_rotary_wing) {
 		_mode_auto = true;
-		/* reset position setpoint on AUTO mode activation */
+
 		if (_vehicle_status.in_transition_mode || !_vehicle_status.is_rotary_wing) {
 			_reset_pos_sp = true;
 			_reset_alt_sp = true;
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index fb6a300f94f..8ac4a25376b 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -432,7 +432,7 @@ Mission::set_mission_items()
 
 			float takeoff_alt = calculate_takeoff_altitude(&_mission_item);
 
-			mavlink_log_critical(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
+			mavlink_log_info(_navigator->get_mavlink_fd(), "takeoff to %.1f meters above home", (double)(takeoff_alt - _navigator->get_home_position()->alt));
 
 			_mission_item.nav_cmd = NAV_CMD_TAKEOFF;
 			_mission_item.lat = _navigator->get_global_position()->lat;
@@ -875,7 +875,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
 
 			} else {
 				if (offset == 0) {
-					mavlink_log_critical(_navigator->get_mavlink_fd(),
+					mavlink_log_info(_navigator->get_mavlink_fd(),
 							     "DO JUMP repetitions completed");
 				}
 				/* no more DO_JUMPS, therefore just try to continue with next mission item */