diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
index 054502e131..4ad54f5f88 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
@@ -160,6 +160,7 @@ bool FlightTaskAuto::_evaluateTriplets()
 
 	} else {
 		_triplet_target = tmp_target;
+		_target_acceptance_radius = _sub_triplet_setpoint->get().current.acceptance_radius;
 
 		if (!PX4_ISFINITE(_triplet_target(0)) || !PX4_ISFINITE(_triplet_target(1))) {
 			// Horizontal target is not finite.
@@ -268,7 +269,7 @@ void FlightTaskAuto::_set_heading_from_mode()
 		// We only adjust yaw if vehicle is outside of acceptance radius. Once we enter acceptance
 		// radius, lock yaw to current yaw.
 		// This prevents excessive yawing.
-		if (v.length() > NAV_ACC_RAD.get()) {
+		if (v.length() > _target_acceptance_radius) {
 			_compute_heading_from_2D_vector(_yaw_setpoint, v);
 			_yaw_lock = false;
 
@@ -331,7 +332,7 @@ void FlightTaskAuto::_checkAvoidanceProgress()
 
 	const float pos_to_target_z = fabsf(_triplet_target(2) - _position(2));
 
-	if (pos_to_target.length() < NAV_ACC_RAD.get() && pos_to_target_z > NAV_MC_ALT_RAD.get()) {
+	if (pos_to_target.length() < _target_acceptance_radius && pos_to_target_z > NAV_MC_ALT_RAD.get()) {
 		// vehicle above or below the target waypoint
 		pos_control_status.altitude_acceptance = pos_to_target_z + 0.5f;
 	}
@@ -479,7 +480,7 @@ void FlightTaskAuto::_updateInternalWaypoints()
 			// angle goes from 0 to 2 with 0 = large angle, 2 = small angle:   0 = PI ; 2 = PI*0
 
 			if (Vector2f(_target - _next_wp).length() > 0.001f &&
-			    (Vector2f(_target - _prev_wp).length() > NAV_ACC_RAD.get())) {
+			    (Vector2f(_target - _prev_wp).length() >  _target_acceptance_radius)) {
 
 				angle = Vector2f(_target - _prev_wp).unit_or_zero()
 					* Vector2f(_target - _next_wp).unit_or_zero()
@@ -492,6 +493,7 @@ void FlightTaskAuto::_updateInternalWaypoints()
 	case State::previous_infront: {
 			_next_wp = _triplet_target;
 			_target = _triplet_prev_wp;
+			_target_acceptance_radius = _sub_triplet_setpoint->get().previous.acceptance_radius;
 			_prev_wp = _position;
 
 			float angle = 2.0f;
@@ -500,7 +502,7 @@ void FlightTaskAuto::_updateInternalWaypoints()
 			// angle = cos(x) + 1.0
 			// angle goes from 0 to 2 with 0 = large angle, 2 = small angle:   0 = PI ; 2 = PI*0
 			if (Vector2f(_target - _next_wp).length() > 0.001f &&
-			    (Vector2f(_target - _prev_wp).length() > NAV_ACC_RAD.get())) {
+			    (Vector2f(_target - _prev_wp).length() > _target_acceptance_radius)) {
 
 				angle = Vector2f(_target - _prev_wp).unit_or_zero()
 					* Vector2f(_target - _next_wp).unit_or_zero()
@@ -521,7 +523,7 @@ void FlightTaskAuto::_updateInternalWaypoints()
 			// angle = cos(x) + 1.0
 			// angle goes from 0 to 2 with 0 = large angle, 2 = small angle:   0 = PI ; 2 = PI*0
 			if (Vector2f(_target - _next_wp).length() > 0.001f &&
-			    (Vector2f(_target - _prev_wp).length() > NAV_ACC_RAD.get())) {
+			    (Vector2f(_target - _prev_wp).length() > _target_acceptance_radius)) {
 
 				angle = Vector2f(_target - _prev_wp).unit_or_zero()
 					* Vector2f(_target - _next_wp).unit_or_zero()
@@ -542,7 +544,7 @@ void FlightTaskAuto::_updateInternalWaypoints()
 			// angle = cos(x) + 1.0
 			// angle goes from 0 to 2 with 0 = large angle, 2 = small angle:   0 = PI ; 2 = PI*0
 			if (Vector2f(_target - _next_wp).length() > 0.001f &&
-			    (Vector2f(_target - _prev_wp).length() > NAV_ACC_RAD.get())) {
+			    (Vector2f(_target - _prev_wp).length() > _target_acceptance_radius)) {
 
 				angle =
 					Vector2f(_target - _prev_wp).unit_or_zero()
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
index 5293eb0a7a..f90a8a3f83 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
@@ -104,11 +104,11 @@ protected:
 	State _current_state{State::none};
 
 	float _speed_at_target = 0.0f; /**< Desired velocity at target. */
+	float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
 					(ParamFloat<px4::params::MPC_XY_CRUISE>) MPC_XY_CRUISE,
 					(ParamFloat<px4::params::MPC_CRUISE_90>) MPC_CRUISE_90, // speed at corner when angle is 90 degrees move to line
-					(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD, // acceptance radius at which waypoints are updated move to line
 					(ParamFloat<px4::params::NAV_MC_ALT_RAD>) NAV_MC_ALT_RAD, //vertical acceptance radius at which waypoints are updated
 					(ParamInt<px4::params::MPC_YAW_MODE>) MPC_YAW_MODE, // defines how heading is executed,
 					(ParamInt<px4::params::MPC_OBS_AVOID>) MPC_OBS_AVOID // obstacle avoidance active
diff --git a/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp b/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
index a5a0400c87..4d2bdf9d72 100644
--- a/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
+++ b/src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
@@ -63,10 +63,10 @@ void FlightTaskAutoLine::_generateHeadingAlongTrack()
 void FlightTaskAutoLine::_generateXYsetpoints()
 {
 	Vector2f pos_sp_to_dest(_target - _position_setpoint);
-	const bool has_reached_altitude = fabsf(_target(2) - _position(2)) < NAV_ACC_RAD.get();
+	const bool has_reached_altitude = fabsf(_target(2) - _position(2)) < _target_acceptance_radius;
 
-	if ((_speed_at_target < 0.001f && pos_sp_to_dest.length() < NAV_ACC_RAD.get()) ||
-	    (!has_reached_altitude && pos_sp_to_dest.length() < NAV_ACC_RAD.get())) {
+	if ((_speed_at_target < 0.001f && pos_sp_to_dest.length() < _target_acceptance_radius) ||
+	    (!has_reached_altitude && pos_sp_to_dest.length() < _target_acceptance_radius)) {
 
 		// Vehicle reached target in xy and no passing required. Lock position */
 		_position_setpoint(0) = _target(0);
@@ -96,9 +96,9 @@ void FlightTaskAutoLine::_generateXYsetpoints()
 		}
 
 		// Compute maximum speed at target threshold */
-		if (threshold_max > NAV_ACC_RAD.get()) {
-			float m = (_mc_cruise_speed - _speed_at_target) / (threshold_max - NAV_ACC_RAD.get());
-			speed_threshold = m * (target_threshold - NAV_ACC_RAD.get()) + _speed_at_target; // speed at transition
+		if (threshold_max > _target_acceptance_radius) {
+			float m = (_mc_cruise_speed - _speed_at_target) / (threshold_max - _target_acceptance_radius);
+			speed_threshold = m * (target_threshold - _target_acceptance_radius) + _speed_at_target; // speed at transition
 		}
 
 		// Either accelerate or decelerate
@@ -111,7 +111,7 @@ void FlightTaskAutoLine::_generateXYsetpoints()
 				_speed_at_target = 0.0f;
 			}
 
-			float acceptance_radius = NAV_ACC_RAD.get();
+			float acceptance_radius = _target_acceptance_radius;
 
 			if (_speed_at_target < 0.01f) {
 				// If vehicle wants to stop at the target, then set acceptance radius to zero as well.