diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
index 4dcbca40c0..d6cb634d00 100644
--- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
+++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
@@ -86,6 +86,9 @@ bool FlightTaskAutoMapper::update()
 		_generateVelocitySetpoints();
 	}
 
+	_obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
+			_yawspeed_setpoint);
+
 	// during mission and reposition, raise the landing gears but only
 	// if altitude is high enough
 	if (_highEnoughForLandingGear()) {