diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
index 172053d485..1ddfc7df6a 100644
--- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
+++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
@@ -86,10 +86,11 @@ bool FlightTaskAutoMapper::update()
 		_generateVelocitySetpoints();
 	}
 
-	_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
-
-	_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
-			_yawspeed_setpoint);
+	if (_param_com_obs_avoid.get()) {
+		_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
+		_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
+				_yawspeed_setpoint);
+	}
 
 	// during mission and reposition, raise the landing gears but only
 	// if altitude is high enough
diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
index dc0c751390..d650346bf8 100644
--- a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
+++ b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
@@ -91,10 +91,12 @@ bool FlightTaskAutoMapper2::update()
 		break;
 	}
 
-	_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
+	if (_param_com_obs_avoid.get()) {
+		_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
+		_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
+				_yawspeed_setpoint);
+	}
 
-	_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
-			_yawspeed_setpoint);
 
 	_generateSetpoints();
 
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
index 6ad4ee5538..b7aa7e2e6c 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
@@ -89,8 +89,8 @@ void ObstacleAvoidance::injectAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel
 		float &yaw_speed_sp)
 {
 
-	if (!COM_OBS_AVOID.get() || _sub_vehicle_status->get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
-		// if avoidance disabled or in failsafe nav_state LOITER, don't inject setpoints from avoidance system
+	if (_sub_vehicle_status->get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
+		// if in failsafe nav_state LOITER, don't inject setpoints from avoidance system
 		return;
 	}
 
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
index 9c66ee9270..327e97ec7b 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
@@ -109,7 +109,6 @@ private:
 	uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID,             /**< obstacle avoidance enabled */
 		(ParamFloat<px4::params::NAV_MC_ALT_RAD>) NAV_MC_ALT_RAD          /**< Acceptance radius for multicopter altitude */
 	);