diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index ed57e0d349..2e8d038d0d 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -695,7 +695,7 @@ void
 FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet)
 {
 
-	if (_global_pos_valid) {
+	if (_global_pos_valid && !pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER) {
 
 		/* rotate ground speed vector with current attitude */
 		math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0));