diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index e74e1b9813..a9051462ee 100755
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -1387,7 +1387,7 @@ static void cliWaypoints(char *cmdline)
     } else if (sl_strcasecmp(cmdline, "reset") == 0) {
         resetWaypointList();
     } else if (sl_strcasecmp(cmdline, "load") == 0) {
-        loadNonVolatileWaypointList();
+        loadNonVolatileWaypointList(true);
     } else if (sl_strcasecmp(cmdline, "save") == 0) {
         posControl.waypointListValid = false;
         for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
@@ -2930,28 +2930,28 @@ static void printImu2Status(void)
     cliPrintLinef("Acc: %d", secondaryImuState.calibrationStatus.acc);
     cliPrintLinef("Mag: %d", secondaryImuState.calibrationStatus.mag);
     cliPrintLine("Calibration gains:");
-    
+
     cliPrintLinef(
-        "Gyro: %d %d %d", 
-        secondaryImuConfig()->calibrationOffsetGyro[X], 
-        secondaryImuConfig()->calibrationOffsetGyro[Y], 
+        "Gyro: %d %d %d",
+        secondaryImuConfig()->calibrationOffsetGyro[X],
+        secondaryImuConfig()->calibrationOffsetGyro[Y],
         secondaryImuConfig()->calibrationOffsetGyro[Z]
     );
     cliPrintLinef(
-        "Acc: %d %d %d", 
-        secondaryImuConfig()->calibrationOffsetAcc[X], 
-        secondaryImuConfig()->calibrationOffsetAcc[Y], 
+        "Acc: %d %d %d",
+        secondaryImuConfig()->calibrationOffsetAcc[X],
+        secondaryImuConfig()->calibrationOffsetAcc[Y],
         secondaryImuConfig()->calibrationOffsetAcc[Z]
     );
     cliPrintLinef(
-        "Mag: %d %d %d", 
-        secondaryImuConfig()->calibrationOffsetMag[X], 
-        secondaryImuConfig()->calibrationOffsetMag[Y], 
+        "Mag: %d %d %d",
+        secondaryImuConfig()->calibrationOffsetMag[X],
+        secondaryImuConfig()->calibrationOffsetMag[Y],
         secondaryImuConfig()->calibrationOffsetMag[Z]
     );
     cliPrintLinef(
-        "Radius: %d %d", 
-        secondaryImuConfig()->calibrationRadiusAcc, 
+        "Radius: %d %d",
+        secondaryImuConfig()->calibrationRadiusAcc,
         secondaryImuConfig()->calibrationRadiusMag
     );
 }
diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
index b80c33cfe0..a8aa6b4dca 100644
--- a/src/main/fc/fc_msp.c
+++ b/src/main/fc/fc_msp.c
@@ -2847,7 +2847,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 #ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
     case MSP_WP_MISSION_LOAD:
         sbufReadU8Safe(NULL, src);    // Mission ID (reserved)
-        if ((dataSize != 1) || (!loadNonVolatileWaypointList()))
+        if ((dataSize != 1) || (!loadNonVolatileWaypointList(false)))
             return MSP_RESULT_ERROR;
         break;
 
diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
index 74952a5329..07dd7a442e 100644
--- a/src/main/fc/rc_controls.c
+++ b/src/main/fc/rc_controls.c
@@ -260,7 +260,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus)
 
     // Load waypoint list
     if (rcSticks == THR_LO + YAW_CE + PIT_HI + ROL_HI) {
-        const bool success = loadNonVolatileWaypointList();
+        const bool success = loadNonVolatileWaypointList(false);
         beeper(success ? BEEPER_ACTION_SUCCESS : BEEPER_ACTION_FAIL);
     }
 #endif
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 1492451b0b..a425d90a37 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -2876,13 +2876,13 @@ int getWaypointCount(void)
 }
 
 #ifdef NAV_NON_VOLATILE_WAYPOINT_STORAGE
-bool loadNonVolatileWaypointList(void)
+bool loadNonVolatileWaypointList(bool clearIfLoaded)
 {
     if (ARMING_FLAG(ARMED))
         return false;
 
-    // if waypoints are already loaded, just unload them.
-    if (posControl.waypointCount > 0) {
+    // if forced and waypoints are already loaded, just unload them.
+    if (clearIfLoaded && posControl.waypointCount > 0) {
         resetWaypointList();
         return false;
     }
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 6f87ce3909..5a7aa4cf28 100755
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -467,7 +467,7 @@ bool isWaypointListValid(void);
 void getWaypoint(uint8_t wpNumber, navWaypoint_t * wpData);
 void setWaypoint(uint8_t wpNumber, const navWaypoint_t * wpData);
 void resetWaypointList(void);
-bool loadNonVolatileWaypointList(void);
+bool loadNonVolatileWaypointList(bool);
 bool saveNonVolatileWaypointList(void);
 
 float getFinalRTHAltitude(void);