diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index adb1e7f0d7db..bfd494f6c9ce 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -191,12 +191,14 @@ Mission::on_active()
 	bool mission_sub_updated = _mission_sub.updated();
 
 	if (mission_sub_updated) {
+		_navigator->reset_triplets();
 		update_mission();
 	}
 
 	/* reset the current mission if needed */
 	if (need_to_reset_mission(true)) {
 		reset_mission(_mission);
+		_navigator->reset_triplets();
 		update_mission();
 		_navigator->reset_cruising_speed();
 		mission_sub_updated = true;
@@ -442,9 +444,6 @@ Mission::update_mission()
 
 	bool failed = true;
 
-	/* reset triplets */
-	_navigator->reset_triplets();
-
 	/* Reset vehicle_roi
 	 * Missions that do not explicitly configure ROI would not override
 	 * an existing ROI setting from previous missions */
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index a30a813fb721..c273b9eac825 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -620,7 +620,6 @@ Navigator::run()
 		case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
 		case vehicle_status_s::NAVIGATION_STATE_STAB:
 		default:
-			_pos_sp_triplet_published_invalid_once = false;
 			navigation_mode_new = nullptr;
 			_can_loiter_at_sp = false;
 			break;
@@ -720,16 +719,8 @@ Navigator::print_status()
 void
 Navigator::publish_position_setpoint_triplet()
 {
-	// do not publish an invalid setpoint
-	if (!_pos_sp_triplet.current.valid) {
-		return;
-	}
-
 	_pos_sp_triplet.timestamp = hrt_absolute_time();
-
-	/* lazily publish the position setpoint triplet only once available */
 	_pos_sp_triplet_pub.publish(_pos_sp_triplet);
-
 	_pos_sp_triplet_updated = false;
 }