diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 44e52762bf..81fc3dbff1 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -679,6 +679,7 @@ Mission::set_mission_items()
 			_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
 			_mission_item.autocontinue = true;
 			_mission_item.time_inside = 0.0f;
+			_mission_item.vtol_back_transition = true;
 		}
 
 		/* transition to MC */
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 46a0c0cec9..bb3caf2628 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -66,22 +66,23 @@ orb_advert_t actuator_pub_fd;
 
 MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
 	NavigatorMode(navigator, name),
-	_mission_item( {0}),
-	       _waypoint_position_reached(false),
-	       _waypoint_yaw_reached(false),
-	       _time_first_inside_orbit(0),
-	       _action_start(0),
-	       _time_wp_reached(0),
-	       _actuators{},
-	       _actuator_pub(nullptr),
-	       _cmd_pub(nullptr),
-	       _param_loiter_min_alt(this, "MIS_LTRMIN_ALT", false),
-	       _param_yaw_timeout(this, "MIS_YAW_TMT", false),
-	       _param_yaw_err(this, "MIS_YAW_ERR", false),
-	       _param_vtol_wv_land(this, "VT_WV_LND_EN", false),
-	       _param_vtol_wv_takeoff(this, "VT_WV_TKO_EN", false),
-	       _param_vtol_wv_loiter(this, "VT_WV_LTR_EN", false),
-	       _param_force_vtol(this, "NAV_FORCE_VT", false)
+	_mission_item({0}),
+	_waypoint_position_reached(false),
+	_waypoint_yaw_reached(false),
+	_time_first_inside_orbit(0),
+	_action_start(0),
+	_time_wp_reached(0),
+	_actuators{},
+	_actuator_pub(nullptr),
+	_cmd_pub(nullptr),
+	_param_loiter_min_alt(this, "MIS_LTRMIN_ALT", false),
+	_param_yaw_timeout(this, "MIS_YAW_TMT", false),
+	_param_yaw_err(this, "MIS_YAW_ERR", false),
+	_param_vtol_wv_land(this, "VT_WV_LND_EN", false),
+	_param_vtol_wv_takeoff(this, "VT_WV_TKO_EN", false),
+	_param_vtol_wv_loiter(this, "VT_WV_LTR_EN", false),
+	_param_force_vtol(this, "NAV_FORCE_VT", false),
+	_param_back_trans_dur(this, "VT_B_TRANS_DUR", false)
 {
 }
 
@@ -305,6 +306,19 @@ MissionBlock::is_mission_item_reached()
 				mission_acceptance_radius = _navigator->get_acceptance_radius();
 			}
 
+			/* for vtol back transition calculate acceptance radius based on time and ground speed */
+			if (_mission_item.vtol_back_transition) {
+
+			    float groundspeed = sqrtf(_navigator->get_global_position()->vel_n * _navigator->get_global_position()->vel_n +
+						      _navigator->get_global_position()->vel_e * _navigator->get_global_position()->vel_e);
+
+			    if (_param_back_trans_dur.get() > FLT_EPSILON && groundspeed > FLT_EPSILON
+				    && groundspeed * _param_back_trans_dur.get() > mission_acceptance_radius) {
+				mission_acceptance_radius = groundspeed * _param_back_trans_dur.get();
+			    }
+
+			}
+
 			if (dist >= 0.0f && dist <= mission_acceptance_radius
 			    && dist_z <= _navigator->get_altitude_acceptance_radius()) {
 				_waypoint_position_reached = true;
diff --git a/src/modules/navigator/mission_block.h b/src/modules/navigator/mission_block.h
index 573d234819..4676cf3846 100644
--- a/src/modules/navigator/mission_block.h
+++ b/src/modules/navigator/mission_block.h
@@ -151,6 +151,7 @@ protected:
 	control::BlockParamInt _param_vtol_wv_takeoff;
 	control::BlockParamInt _param_vtol_wv_loiter;
 	control::BlockParamInt _param_force_vtol;
+	control::BlockParamFloat _param_back_trans_dur;
 };
 
 #endif
diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h
index 46a5a5832f..54576f6506 100644
--- a/src/modules/navigator/navigation.h
+++ b/src/modules/navigator/navigation.h
@@ -124,13 +124,14 @@ struct mission_item_s {
 	uint16_t do_jump_repeat_count;		/**< how many times do jump needs to be done            */
 	uint16_t do_jump_current_count;		/**< count how many times the jump has been done	*/
 	struct {
-		uint16_t frame : 4,				/**< mission frame ***/
-			 origin : 3,						/**< how the mission item was generated */
-			 loiter_exit_xtrack : 1,			/**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
-			 force_heading : 1,				/**< heading needs to be reached ***/
-			 altitude_is_relative : 1,		/**< true if altitude is relative from start point	*/
-			 autocontinue : 1,				/**< true if next waypoint should follow after this one */
-			 disable_mc_yaw : 1;				/**< weathervane mode */
+		uint16_t frame : 4,					/**< mission frame ***/
+			origin : 3,						/**< how the mission item was generated */
+			loiter_exit_xtrack : 1,			/**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
+			force_heading : 1,				/**< heading needs to be reached ***/
+			altitude_is_relative : 1,		/**< true if altitude is relative from start point	*/
+			autocontinue : 1,				/**< true if next waypoint should follow after this one */
+			disable_mc_yaw : 1,				/**< weathervane mode */
+			vtol_back_transition : 1;		/**< part of the vtol back transition sequence */
 	};
 };
 #pragma pack(pop)