diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
index 943b613dba..a2d42801ee 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
@@ -88,7 +88,8 @@ void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &ve
 		float &yaw_speed_sp)
 {
 
-	if (!COM_OBS_AVOID.get()) {
+	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
 		return;
 	}