diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 218b8eeeb7f..874651e4f59 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -250,6 +250,7 @@ void Navigator::run()
 
 	uint32_t geofence_id{0};
 	mission_s mission{};
+	bool mission_received{false};
 
 	/* rate-limit position subscription to 20 Hz / 50 ms */
 	orb_set_interval(_local_pos_sub, 50);
@@ -275,16 +276,23 @@ void Navigator::run()
 		orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vstatus);
 
 		if (fds[2].revents & POLLIN) {
-			orb_copy(ORB_ID(mission), _mission_sub, &mission);
+			mission_s mission_update{};
 
-			if (mission.geofence_id != geofence_id) {
-				geofence_id = mission.geofence_id;
-				_geofence.updateFence();
+			if (orb_copy(ORB_ID(mission), _mission_sub, &mission_update) == PX4_OK) {
+				mission = mission_update;
+				mission_received = true;
+
+				if (mission.geofence_id != geofence_id) {
+					geofence_id = mission.geofence_id;
+					_geofence.updateFence();
+				}
 			}
 
 		}
 
-		_mission_route_cache.update(mission);
+		if (mission_received) {
+			_mission_route_cache.update(mission);
+		}
 
 		/* gps updated */
 		if (_gps_pos_sub.updated()) {