diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index b443dc49941..eca17c2d656 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -424,7 +424,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
         .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_INFINIT,
         .mwError = MW_NAV_ERROR_NONE,
@@ -439,7 +439,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_INFINIT,
         .mwError = MW_NAV_ERROR_NONE,
@@ -595,7 +595,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbind to safe alt
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbind to safe alt
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_RTH_CLIMB,
         .mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT,
@@ -635,7 +635,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_HEAD_HOME,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_HEAD_HOME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_RTH_ENROUTE,
         .mwError = MW_NAV_ERROR_NONE,
@@ -656,7 +656,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
         .timeoutMs = 500,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_SETTLE,
         .mwError = MW_NAV_ERROR_NONE,
@@ -677,7 +677,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_HOVER_ABOVE_HOME,
         .mwError = MW_NAV_ERROR_NONE,
@@ -696,7 +696,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -717,7 +717,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -828,7 +828,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME,                             // There is no state for timed hold?
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_TIMED,
         .mwError = MW_NAV_ERROR_NONE,
@@ -849,7 +849,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -887,7 +887,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_WP_ENROUTE,
         .mwError = MW_NAV_ERROR_FINISH,
@@ -908,7 +908,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -926,7 +926,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -944,7 +944,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_LANDED,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -1053,7 +1053,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
@@ -1074,7 +1074,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
@@ -4081,7 +4081,16 @@ bool isLastMissionWaypoint(void)
 /* Checks if Nav hold position is active */
 bool isNavHoldPositionActive(void)
 {
-    return navGetCurrentStateFlags() & NAV_CTL_HOLD;
+    // WP mode last WP hold and Timed hold positions
+    if (FLIGHT_MODE(NAV_WP_MODE)) {
+        return isLastMissionWaypoint() || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME;
+    }
+    // RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode
+    // Also hold position during emergency landing if position valid
+    return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||
+            FLIGHT_MODE(NAV_POSHOLD_MODE) ||
+            (posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) ||
+            navigationIsExecutingAnEmergencyLanding();
 }
 
 float getActiveSpeed(void)
diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h
index 015c9e371c5..5d23d36fc59 100644
--- a/src/main/navigation/navigation_private.h
+++ b/src/main/navigation/navigation_private.h
@@ -334,7 +334,6 @@ typedef enum {
     NAV_AUTO_WP_DONE        = (1 << 15),    // Waypoint mission reached the last waypoint and is idling
 
     NAV_MIXERAT             = (1 << 16),    // MIXERAT in progress
-    NAV_CTL_HOLD            = (1 << 17),    // Nav loiter active at position or will be when position reached
 } navigationFSMStateFlags_t;
 
 typedef struct {