diff --git a/src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.cpp b/src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.cpp
index dc8f2ae136..85290a2299 100644
--- a/src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.cpp
+++ b/src/modules/rover_ackermann/AckermannPosControl/AckermannPosControl.cpp
@@ -67,9 +67,12 @@ void AckermannPosControl::updatePosControl()
 
 		if (distance_to_target > _acceptance_radius || _arrival_speed > FLT_EPSILON) {
 
-			float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
-					       _param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
-			speed_setpoint = math::min(speed_setpoint, _cruising_speed);
+			float speed_setpoint{_cruising_speed};
+
+			if (_param_ro_decel_limit.get() > FLT_EPSILON && _param_ro_jerk_limit.get() > FLT_EPSILON) {
+				speed_setpoint = math::min(math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
+							   _param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed)), _cruising_speed);
+			}
 
 			pure_pursuit_status_s pure_pursuit_status{};
 			pure_pursuit_status.timestamp = timestamp;
diff --git a/src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.cpp b/src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.cpp
index d7807c2e8d..125e8c1c89 100644
--- a/src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.cpp
+++ b/src/modules/rover_differential/DifferentialPosControl/DifferentialPosControl.cpp
@@ -65,9 +65,12 @@ void DifferentialPosControl::updatePosControl()
 		}
 
 		if (distance_to_target > _param_nav_acc_rad.get() || _arrival_speed > FLT_EPSILON) {
-			float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
-					       _param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
-			speed_setpoint = math::min(speed_setpoint, _cruising_speed);
+			float speed_setpoint{_cruising_speed};
+
+			if (_param_ro_decel_limit.get() > FLT_EPSILON && _param_ro_jerk_limit.get() > FLT_EPSILON) {
+				speed_setpoint = math::min(math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
+							   _param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed)), _cruising_speed);
+			}
 
 			pure_pursuit_status_s pure_pursuit_status{};
 			pure_pursuit_status.timestamp = timestamp;
diff --git a/src/modules/rover_mecanum/MecanumPosControl/MecanumPosControl.cpp b/src/modules/rover_mecanum/MecanumPosControl/MecanumPosControl.cpp
index 969bb28b30..68c31d141e 100644
--- a/src/modules/rover_mecanum/MecanumPosControl/MecanumPosControl.cpp
+++ b/src/modules/rover_mecanum/MecanumPosControl/MecanumPosControl.cpp
@@ -66,9 +66,12 @@ void MecanumPosControl::updatePosControl()
 
 		if (distance_to_target > _param_nav_acc_rad.get() || _arrival_speed > FLT_EPSILON) {
 
-			float speed_setpoint = math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
-					       _param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed));
-			speed_setpoint = math::min(speed_setpoint, _cruising_speed);
+			float speed_setpoint{_cruising_speed};
+
+			if (_param_ro_decel_limit.get() > FLT_EPSILON && _param_ro_jerk_limit.get() > FLT_EPSILON) {
+				speed_setpoint = math::min(math::trajectory::computeMaxSpeedFromDistance(_param_ro_jerk_limit.get(),
+							   _param_ro_decel_limit.get(), distance_to_target, fabsf(_arrival_speed)), _cruising_speed);
+			}
 
 			pure_pursuit_status_s pure_pursuit_status{};
 			pure_pursuit_status.timestamp = timestamp;