diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 981cd537a6..840d80448d 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -396,34 +396,33 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
 
     /* If waypoint tracking enabled quickly force craft toward waypoint course line and closely track along it */
     if (navConfig()->fw.wp_tracking_accuracy && isWaypointNavTrackingActive() && !needToCalculateCircularLoiter) {
-        // apply course tracking correction if target bearing error < 90 degs or when close to waypoint (within 10m)
-        if (ABS(wrap_18000(virtualTargetBearing - posControl.actualState.yaw)) < 9000 || posControl.wpDistance < 1000.0f) {
-            // courseVirtualCorrection initially used to determine current position relative to course line for later use
-            int32_t courseVirtualCorrection = wrap_18000(posControl.activeWaypoint.yaw - virtualTargetBearing);
-            float distToCourseLine = ABS(posControl.wpDistance * sin_approx(CENTIDEGREES_TO_RADIANS(courseVirtualCorrection)));
+        // courseVirtualCorrection initially used to determine current position relative to course line for later use
+        int32_t courseVirtualCorrection = wrap_18000(posControl.activeWaypoint.yaw - virtualTargetBearing);
+        float distToCourseLine = ABS(posControl.wpDistance * sin_approx(CENTIDEGREES_TO_RADIANS(courseVirtualCorrection)));
+
+        // tracking only active when target bearing error < 90 degs, close to waypoint (within 10m) and > 2m from course line
+        if ((ABS(wrap_18000(virtualTargetBearing - posControl.actualState.yaw)) < 9000 || posControl.wpDistance < 1000.0f) && distToCourseLine > 200) {
             int32_t courseHeadingError = wrap_18000(posControl.activeWaypoint.yaw - posControl.actualState.yaw);
 
-            // only apply tracking correction when > 2m from waypoint course line
-            if (distToCourseLine > 200) {
-                // captureFactor adjusts distance/heading sensitivity balance when approaching course line.
-                // approach distance threashold based on speed and an assumed 1 second response time.
-                float captureFactor = distToCourseLine < posControl.actualState.velXY ? constrainf(2.0f - ABS(courseHeadingError) / 500.0f, 0.0f, 2.0f) : 1.0f;
-                // bias between reducing distance to course line and aligning with course heading adjusted by waypoint_tracking_accuracy
-                // initial courseCorrectionFactor based on distance to course line
-                float courseCorrectionFactor = constrainf(captureFactor * distToCourseLine / (1000.0f * navConfig()->fw.wp_tracking_accuracy), 0.0f, 1.0f);
-                courseCorrectionFactor = courseVirtualCorrection < 0 ? -courseCorrectionFactor : courseCorrectionFactor;
+            // captureFactor adjusts distance/heading sensitivity balance when approaching course line.
+            // Approach distance threashold based on speed and an assumed 1 second response time.
+            float captureFactor = distToCourseLine < posControl.actualState.velXY ? constrainf(2.0f - ABS(courseHeadingError) / 500.0f, 0.0f, 2.0f) : 1.0f;
 
-                // course heading alignment factor
-                float courseHeadingFactor = constrainf(courseHeadingError / 18000.0f, 0.0f, 1.0f);
-                courseHeadingFactor = courseHeadingError < 0 ? -courseHeadingFactor : courseHeadingFactor;
+            // bias between reducing distance to course line and aligning with course heading adjusted by waypoint_tracking_accuracy
+            // initial courseCorrectionFactor based on distance to course line
+            float courseCorrectionFactor = constrainf(captureFactor * distToCourseLine / (1000.0f * navConfig()->fw.wp_tracking_accuracy), 0.0f, 1.0f);
+            courseCorrectionFactor = courseVirtualCorrection < 0 ? -courseCorrectionFactor : courseCorrectionFactor;
 
-                // final courseCorrectionFactor combining distance and heading factors
-                courseCorrectionFactor = constrainf(courseCorrectionFactor - courseHeadingFactor, -1.0f, 1.0f);
+            // course heading alignment factor
+            float courseHeadingFactor = constrainf(courseHeadingError / 18000.0f, 0.0f, 1.0f);
+            courseHeadingFactor = courseHeadingError < 0 ? -courseHeadingFactor : courseHeadingFactor;
 
-                // final courseVirtualCorrection using max 80 deg heading adjustment toward course line
-                courseVirtualCorrection = DEGREES_TO_CENTIDEGREES(navConfig()->fw.wp_tracking_max_angle) * courseCorrectionFactor;
-                virtualTargetBearing = wrap_36000(posControl.activeWaypoint.yaw - courseVirtualCorrection);
-            }
+            // final courseCorrectionFactor combining distance and heading factors
+            courseCorrectionFactor = constrainf(courseCorrectionFactor - courseHeadingFactor, -1.0f, 1.0f);
+
+            // final courseVirtualCorrection value
+            courseVirtualCorrection = DEGREES_TO_CENTIDEGREES(navConfig()->fw.wp_tracking_max_angle) * courseCorrectionFactor;
+            virtualTargetBearing = wrap_36000(posControl.activeWaypoint.yaw - courseVirtualCorrection);
         }
     }