diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 3e97896d02a5..9daa37a73372 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -141,6 +141,9 @@ Mission::set_current_mission_index(uint16_t index)
 			set_mission_items();
 		}
 
+		// User has actively set new index, reset.
+		_inactivation_index = -1;
+
 		return true;
 	}
 
diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp
index 5e9a77802ed9..41ce19c2cc1f 100644
--- a/src/modules/navigator/mission_base.cpp
+++ b/src/modules/navigator/mission_base.cpp
@@ -243,7 +243,7 @@ MissionBase::on_activation()
 		}
 	}
 
-	checkClimbRequired(resume_index);
+	checkClimbRequired(_mission.current_seq);
 	set_mission_items();
 
 	_inactivation_index = -1; // reset
@@ -557,6 +557,7 @@ MissionBase::checkMissionRestart()
 	if (_system_disarmed_while_inactive && _mission_has_been_activated && (_mission.count > 0U)
 	    && ((_mission.current_seq + 1) == _mission.count)) {
 		setMissionIndex(0);
+		_inactivation_index = -1; // reset
 		_is_current_planned_mission_item_valid = isMissionValid(_mission);
 		resetMissionJumpCounter();
 		_navigator->reset_cruising_speed();
diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h
index 54a24fefa1f0..4a9a33464ff1 100644
--- a/src/modules/navigator/mission_base.h
+++ b/src/modules/navigator/mission_base.h
@@ -295,6 +295,7 @@ class MissionBase : public MissionBlock, public ModuleParams
 	bool _system_disarmed_while_inactive{false};		/**< Flag indicating if the system has been disarmed while mission is inactive*/
 	mission_s _mission;					/**< Currently active mission*/
 	float _mission_init_climb_altitude_amsl{NAN}; 		/**< altitude AMSL the vehicle will climb to when mission starts */
+	int _inactivation_index{-1}; // index of mission item at which the mission was paused. Used to resume survey missions at previous waypoint to not lose images.
 
 	DatamanCache _dataman_cache{"mission_dm_cache_miss", 10}; /**< Dataman cache of mission items*/
 	DatamanClient	&_dataman_client = _dataman_cache.client(); /**< Dataman client*/
@@ -428,7 +429,6 @@ class MissionBase : public MissionBlock, public ModuleParams
 	int32_t _load_mission_index{-1}; /**< Mission inted of loaded mission items in dataman cache*/
 	int32_t _dataman_cache_size_signed; /**< Size of the dataman cache. A negativ value indicates that previous mission items should be loaded, a positiv value the next mission items*/
 
-	int _inactivation_index{-1}; // index of mission item at which the mission was paused. Used to resume survey missions at previous waypoint to not lose images.
 	bool _align_heading_necessary{false}; // if true, heading of vehicle needs to be aligned with heading of next waypoint. Used to create new mission items for heading alignment.
 
 	mission_item_s _last_gimbal_configure_item {};