diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 6a4d381027..789945e4ac 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -354,14 +354,17 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance,
 
 	if (min_clearance > 0.0f) {
 		item->altitude += min_clearance;
+
+		/* we must takeoff to a point further above ground than the acceptance radius */
+		if (_navigator->get_acceptance_radius() > min_clearance) {
+			item->altitude += _navigator->get_acceptance_radius();
+		}
 	}
 
 	item->altitude_is_relative = false;
 	item->yaw = NAN;
 	item->loiter_radius = _navigator->get_loiter_radius();
 	item->loiter_direction = 1;
-	item->acceptance_radius = (_navigator->get_acceptance_radius() > min_clearance / 2.0f) ?
-					(min_clearance / 2) : _navigator->get_acceptance_radius();
 	item->time_inside = 0.0f;
 	item->pitch_min = min_pitch;
 	item->autocontinue = false;