diff --git a/src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.cpp b/src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.cpp
index a16115543d..6e8c947505 100644
--- a/src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.cpp
+++ b/src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.cpp
@@ -51,7 +51,8 @@ void MecanumAutoMode::autoControl()
 	if (_position_setpoint_triplet_sub.updated()) {
 		position_setpoint_triplet_s position_setpoint_triplet{};
 		_position_setpoint_triplet_sub.copy(&position_setpoint_triplet);
-		int curr_wp_type = position_setpoint_triplet.current.type;
+		const int curr_wp_type = position_setpoint_triplet.current.type;
+		const bool curr_wp_valid = position_setpoint_triplet.current.valid;
 
 		vehicle_local_position_s vehicle_local_position{};
 		_vehicle_local_position_sub.copy(&vehicle_local_position);
@@ -85,7 +86,7 @@ void MecanumAutoMode::autoControl()
 		rover_position_setpoint.start_ned[0] = prev_wp_ned(0);
 		rover_position_setpoint.start_ned[1] = prev_wp_ned(1);
 		rover_position_setpoint.arrival_speed = arrivalSpeed(cruising_speed, waypoint_transition_angle,
-							_param_ro_speed_limit.get(), _param_ro_speed_red.get(), curr_wp_type);
+							_param_ro_speed_limit.get(), _param_ro_speed_red.get(), curr_wp_type, curr_wp_valid);
 		rover_position_setpoint.cruising_speed = cruising_speed;
 		rover_position_setpoint.yaw = PX4_ISFINITE(position_setpoint_triplet.current.yaw) ?
 					      position_setpoint_triplet.current.yaw : NAN;
@@ -94,10 +95,10 @@ void MecanumAutoMode::autoControl()
 }
 
 float MecanumAutoMode::arrivalSpeed(const float cruising_speed, const float waypoint_transition_angle,
-				    const float max_speed, const float speed_red, int curr_wp_type)
+				    const float max_speed, const float speed_red, const int curr_wp_type, const bool curr_wp_valid)
 {
 	// Upcoming stop
-	if (!PX4_ISFINITE(waypoint_transition_angle) || curr_wp_type == position_setpoint_s::SETPOINT_TYPE_LAND) {
+	if (!PX4_ISFINITE(waypoint_transition_angle) || curr_wp_type == position_setpoint_s::SETPOINT_TYPE_LAND || !curr_wp_valid) {
 		return 0.f;
 	}
 
diff --git a/src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.hpp b/src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.hpp
index 66d8125d9f..3ea574432a 100644
--- a/src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.hpp
+++ b/src/modules/rover_mecanum/MecanumDriveModes/MecanumAutoMode/MecanumAutoMode.hpp
@@ -80,10 +80,11 @@ private:
 	 * @param max_speed Maximum speed setpoint [m/s]
 	 * @param speed_red Tuning parameter for the speed reduction during waypoint transition.
 	 * @param curr_wp_type Type of the current waypoint.
+	 * @param curr_wp_valid validity flag of the current waypoint.
 	 * @return Speed setpoint [m/s].
 	 */
 	float arrivalSpeed(const float cruising_speed, const float waypoint_transition_angle, const float max_speed,
-			   const float speed_red, int curr_wp_type);
+			   const float speed_red, const int curr_wp_type, const bool curr_wp_valid);
 
 	// uORB subscriptions
 	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};