diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp
index d6ce8cc2c2..052968ed7e 100644
--- a/src/modules/navigator/mission_base.cpp
+++ b/src/modules/navigator/mission_base.cpp
@@ -406,7 +406,7 @@ MissionBase::isLanding()
 			// consider mission_item.loiter_radius invalid if NAN or 0, use default value in this case.
 			const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius)
 					&& fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) :
-					_navigator->get_loiter_radius();
+					_navigator->get_default_loiter_rad();
 
 			on_landing_stage = d_current <= (_navigator->get_acceptance_radius() + mission_item_loiter_radius_abs);
 		}
@@ -883,7 +883,7 @@ MissionBase::do_abort_landing()
 	_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
 	_mission_item.altitude_is_relative = false;
 	_mission_item.altitude = alt_sp;
-	_mission_item.loiter_radius = _navigator->get_loiter_radius();
+	_mission_item.loiter_radius = _navigator->get_default_loiter_rad();
 	_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 	_mission_item.autocontinue = false;
 	_mission_item.origin = ORIGIN_ONBOARD;
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index d43c4bee36..168debf23a 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -170,7 +170,7 @@ MissionBlock::is_mission_item_reached_or_completed()
 		// consider mission_item.loiter_radius invalid if NAN or 0, use default value in this case.
 		const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius)
 				&& fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) :
-				_navigator->get_loiter_radius();
+				_navigator->get_default_loiter_rad();
 
 		dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, mission_item_altitude_amsl,
 				_navigator->get_global_position()->lat,
@@ -626,7 +626,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
 	sp->alt = get_absolute_altitude_for_item(item);
 	sp->yaw = item.yaw;
 	sp->loiter_radius = (fabsf(item.loiter_radius) > FLT_EPSILON) ? fabsf(item.loiter_radius) :
-			    _navigator->get_loiter_radius();
+			    _navigator->get_default_loiter_rad();
 	sp->loiter_direction_counter_clockwise = item.loiter_radius < 0;
 
 	if (item.acceptance_radius > FLT_EPSILON && PX4_ISFINITE(item.acceptance_radius)) {
@@ -730,7 +730,7 @@ MissionBlock::setLoiterItemFromCurrentPosition(struct mission_item_s *item)
 	}
 
 	item->altitude = loiter_altitude_amsl;
-	item->loiter_radius = _navigator->get_loiter_radius();
+	item->loiter_radius = _navigator->get_default_loiter_rad();
 	item->yaw = NAN;
 }
 
@@ -742,7 +742,7 @@ MissionBlock::setLoiterItemFromCurrentPositionWithBraking(struct mission_item_s
 	_navigator->preproject_stop_point(item->lat, item->lon);
 
 	item->altitude = _navigator->get_global_position()->alt;
-	item->loiter_radius = _navigator->get_loiter_radius();
+	item->loiter_radius = _navigator->get_default_loiter_rad();
 	item->yaw = NAN;
 }
 
@@ -773,7 +773,7 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude)
 	item->altitude_is_relative = false;
 
 	item->acceptance_radius = _navigator->get_acceptance_radius();
-	item->loiter_radius = _navigator->get_loiter_radius();
+	item->loiter_radius = _navigator->get_default_loiter_rad();
 	item->autocontinue = false;
 	item->origin = ORIGIN_ONBOARD;
 }
@@ -808,7 +808,7 @@ MissionBlock::set_land_item(struct mission_item_s *item)
 
 	item->altitude = 0;
 	item->altitude_is_relative = false;
-	item->loiter_radius = _navigator->get_loiter_radius();
+	item->loiter_radius = _navigator->get_default_loiter_rad();
 	item->acceptance_radius = _navigator->get_acceptance_radius();
 	item->time_inside = 0.0f;
 	item->autocontinue = true;
@@ -824,7 +824,7 @@ MissionBlock::set_idle_item(struct mission_item_s *item)
 	item->altitude_is_relative = false;
 	item->altitude = _navigator->get_home_position()->alt;
 	item->yaw = NAN;
-	item->loiter_radius = _navigator->get_loiter_radius();
+	item->loiter_radius = _navigator->get_default_loiter_rad();
 	item->acceptance_radius = _navigator->get_acceptance_radius();
 	item->time_inside = 0.0f;
 	item->autocontinue = true;
@@ -896,7 +896,7 @@ MissionBlock::initialize()
 	_mission_item.lat = (double)NAN;
 	_mission_item.lon = (double)NAN;
 	_mission_item.yaw = NAN;
-	_mission_item.loiter_radius = _navigator->get_loiter_radius();
+	_mission_item.loiter_radius = _navigator->get_default_loiter_rad();
 	_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 	_mission_item.time_inside = 0.0f;
 	_mission_item.autocontinue = true;
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 30b9cd769a..e9d04c53dd 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -179,7 +179,7 @@ public:
 
 	Geofence &get_geofence() { return _geofence; }
 
-	float get_loiter_radius() { return _param_nav_loiter_rad.get(); }
+	float get_default_loiter_rad() { return _param_nav_loiter_rad.get(); }
 
 	/**
 	 * Returns the default acceptance radius defined by the parameter
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 31544aeca0..f28ee849ca 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -368,7 +368,7 @@ void Navigator::run()
 
 
 						} else {
-							rep->current.loiter_radius = get_loiter_radius();
+							rep->current.loiter_radius = get_default_loiter_rad();
 						}
 
 						if (PX4_ISFINITE(curr->current.loiter_minor_radius) && fabsf(curr->current.loiter_minor_radius) > FLT_EPSILON) {
@@ -471,7 +471,7 @@ void Navigator::run()
 						rep->current.loiter_radius = curr->current.loiter_radius;
 
 					} else {
-						rep->current.loiter_radius = get_loiter_radius();
+						rep->current.loiter_radius = get_default_loiter_rad();
 					}
 
 					rep->current.loiter_direction_counter_clockwise = curr->current.loiter_direction_counter_clockwise;
@@ -509,7 +509,7 @@ void Navigator::run()
 				if (geofence_allows_position(position_setpoint)) {
 					position_setpoint_triplet_s *rep = get_reposition_triplet();
 					rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
-					rep->current.loiter_radius = get_loiter_radius();
+					rep->current.loiter_radius = get_default_loiter_rad();
 					rep->current.loiter_direction_counter_clockwise = false;
 					rep->current.loiter_orientation = 0.0f;
 					rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT;
@@ -557,8 +557,8 @@ void Navigator::run()
 				if (geofence_allows_position(position_setpoint)) {
 					position_setpoint_triplet_s *rep = get_reposition_triplet();
 					rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
-					rep->current.loiter_minor_radius = fabsf(get_loiter_radius());
-					rep->current.loiter_direction_counter_clockwise = get_loiter_radius() < 0;
+					rep->current.loiter_minor_radius = fabsf(get_default_loiter_rad());
+					rep->current.loiter_direction_counter_clockwise = get_default_loiter_rad() < 0;
 					rep->current.loiter_orientation = 0.0f;
 					rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_FIGUREEIGHT;
 					rep->current.cruising_speed = get_cruising_speed();
@@ -604,7 +604,7 @@ void Navigator::run()
 				rep->previous.lon = get_global_position()->lon;
 				rep->previous.alt = get_global_position()->alt;
 
-				rep->current.loiter_radius = get_loiter_radius();
+				rep->current.loiter_radius = get_default_loiter_rad();
 				rep->current.loiter_direction_counter_clockwise = false;
 				rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
 				rep->current.cruising_speed = -1.f; // reset to default
@@ -941,7 +941,7 @@ void Navigator::geofence_breach_check()
 			vertical_test_point_distance = _gf_breach_avoidance.computeVerticalBrakingDistanceMultirotor();
 
 		} else {
-			test_point_distance = 2.0f * get_loiter_radius();
+			test_point_distance = 2.0f * get_default_loiter_rad();
 			vertical_test_point_distance = 5.0f;
 
 			if (hrt_absolute_time() - pos_ctrl_status.timestamp < 100000 && PX4_ISFINITE(pos_ctrl_status.nav_bearing)) {
@@ -1056,7 +1056,7 @@ void Navigator::geofence_breach_check()
 				rep->current.lon = loiter_longitude;
 				rep->current.alt = loiter_altitude_amsl;
 				rep->current.valid = true;
-				rep->current.loiter_radius = get_loiter_radius();
+				rep->current.loiter_radius = get_default_loiter_rad();
 				rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
 				rep->current.cruising_throttle = get_cruising_throttle();
 				rep->current.acceptance_radius = get_acceptance_radius();
@@ -1173,7 +1173,7 @@ void Navigator::reset_position_setpoint(position_setpoint_s &sp)
 	sp.lat = static_cast<double>(NAN);
 	sp.lon = static_cast<double>(NAN);
 	sp.yaw = NAN;
-	sp.loiter_radius = get_loiter_radius();
+	sp.loiter_radius = get_default_loiter_rad();
 	sp.acceptance_radius = get_default_acceptance_radius();
 	sp.cruising_speed = get_cruising_speed();
 	sp.cruising_throttle = get_cruising_throttle();
diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp
index 1d73483465..03d39e9d54 100644
--- a/src/modules/navigator/rtl_direct.cpp
+++ b/src/modules/navigator/rtl_direct.cpp
@@ -244,7 +244,7 @@ void RtlDirect::set_rtl_item()
 				.alt = _rtl_alt,
 				.yaw = _param_wv_en.get() ? NAN : _navigator->get_local_position()->heading,
 			};
-			setLoiterToAltMissionItem(_mission_item, pos_yaw_sp, _navigator->get_loiter_radius());
+			setLoiterToAltMissionItem(_mission_item, pos_yaw_sp, _navigator->get_default_loiter_rad());
 
 			break;
 		}
diff --git a/src/modules/navigator/rtl_direct_mission_land.cpp b/src/modules/navigator/rtl_direct_mission_land.cpp
index 6b7f2f649a..7e8b3d4aa4 100644
--- a/src/modules/navigator/rtl_direct_mission_land.cpp
+++ b/src/modules/navigator/rtl_direct_mission_land.cpp
@@ -142,7 +142,7 @@ void RtlDirectMissionLand::setActiveMissionItems()
 		_mission_item.time_inside = 0.0f;
 		_mission_item.autocontinue = true;
 		_mission_item.origin = ORIGIN_ONBOARD;
-		_mission_item.loiter_radius = _navigator->get_loiter_radius();
+		_mission_item.loiter_radius = _navigator->get_default_loiter_rad();
 
 		mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL Mission land: climb to %d m\t",
 				 (int)ceilf(_rtl_alt));
diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp
index 90e7f86b26..618108ca4b 100644
--- a/src/modules/navigator/takeoff.cpp
+++ b/src/modules/navigator/takeoff.cpp
@@ -77,7 +77,7 @@ Takeoff::on_active()
 					// as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly,
 					// however it will just continue loitering as there is no next mission item
 					_mission_item.time_inside = 1.f;
-					_mission_item.loiter_radius = _navigator->get_loiter_radius();
+					_mission_item.loiter_radius = _navigator->get_default_loiter_rad();
 					_mission_item.acceptance_radius  = _navigator->get_acceptance_radius();
 					_mission_item.altitude = _loiter_altitude_msl;
 
@@ -114,7 +114,7 @@ Takeoff::on_active()
 
 					const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius)
 							&& fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) :
-							_navigator->get_loiter_radius();
+							_navigator->get_default_loiter_rad();
 					lateral_acceptance_reached = distance_to_loiter < _navigator->get_acceptance_radius() + mission_item_loiter_radius_abs;
 				}
 
diff --git a/src/modules/navigator/vtol_takeoff.cpp b/src/modules/navigator/vtol_takeoff.cpp
index 503a0279f9..686886a911 100644
--- a/src/modules/navigator/vtol_takeoff.cpp
+++ b/src/modules/navigator/vtol_takeoff.cpp
@@ -116,7 +116,7 @@ VtolTakeoff::on_active()
 				// as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly,
 				// however it will just continue loitering as there is no next mission item
 				_mission_item.time_inside = 1.f;
-				_mission_item.loiter_radius = _navigator->get_loiter_radius();
+				_mission_item.loiter_radius = _navigator->get_default_loiter_rad();
 				_mission_item.acceptance_radius  = _navigator->get_acceptance_radius();
 				_mission_item.altitude = _takeoff_alt_msl + _param_loiter_alt.get();