diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
index 3d2d057881..674770321d 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
@@ -56,6 +56,10 @@ bool FlightTaskAuto::initializeSubscriptions(SubscriptionArray &subscription_arr
 		return false;
 	}
 
+	if (!subscription_array.get(ORB_ID(vehicle_status), _sub_vehicle_status)) {
+		return false;
+	}
+
 	return true;
 }
 
@@ -221,7 +225,7 @@ bool FlightTaskAuto::_evaluateTriplets()
 		_updateAvoidanceWaypoints();
 	}
 
-	if (MPC_OBS_AVOID.get()) {
+	if (MPC_OBS_AVOID.get() && _sub_vehicle_status->get().is_rotary_wing) {
 		_checkAvoidanceProgress();
 	}
 
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
index a82b6353cf..5293eb0a7a 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
@@ -44,6 +44,7 @@
 #include <uORB/topics/position_setpoint.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/position_controller_status.h>
+#include <uORB/topics/vehicle_status.h>
 #include <lib/ecl/geo/geo.h>
 
 /**
@@ -117,6 +118,7 @@ private:
 	matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
 	bool _yaw_lock = false; /**< if within acceptance radius, lock yaw to current yaw */
 	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+	uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr};
 
 	matrix::Vector3f
 	_triplet_target; /**< current triplet from navigator which may differ from the intenal one (_target) depending on the vehicle state. */