diff --git a/src/lib/collision_prevention/CollisionPrevention.cpp b/src/lib/collision_prevention/CollisionPrevention.cpp
index 8241800c6c..fb4f15272c 100644
--- a/src/lib/collision_prevention/CollisionPrevention.cpp
+++ b/src/lib/collision_prevention/CollisionPrevention.cpp
@@ -83,6 +83,7 @@ CollisionPrevention::CollisionPrevention(ModuleParams *parent) :
 	for (uint32_t i = 0 ; i < internal_bins; i++) {
 		_data_timestamps[i] = current_time;
 		_data_maxranges[i] = 0;
+		_data_fov[i] = 0;
 		_obstacle_map_body_frame.distances[i] = UINT16_MAX;
 	}
 }
@@ -129,6 +130,7 @@ CollisionPrevention::_addObstacleSensorData(const obstacle_distance_s &obstacle,
 					_obstacle_map_body_frame.distances[i] = obstacle.distances[msg_index];
 					_data_timestamps[i] = _obstacle_map_body_frame.timestamp;
 					_data_maxranges[i] = obstacle.max_distance;
+					_data_fov[i] = 1;
 				}
 			}
 		}
@@ -148,6 +150,7 @@ CollisionPrevention::_addObstacleSensorData(const obstacle_distance_s &obstacle,
 					_obstacle_map_body_frame.distances[i] = obstacle.distances[msg_index];
 					_data_timestamps[i] = _obstacle_map_body_frame.timestamp;
 					_data_maxranges[i] = obstacle.max_distance;
+					_data_fov[i] = 1;
 				}
 			}
 		}
@@ -281,6 +284,7 @@ CollisionPrevention::_addDistanceSensorData(distance_sensor_s &distance_sensor,
 				_obstacle_map_body_frame.distances[wrapped_bin] = static_cast<uint16_t>(100.0f * distance_reading + 0.5f);
 				_data_timestamps[wrapped_bin] = _obstacle_map_body_frame.timestamp;
 				_data_maxranges[wrapped_bin] = sensor_range;
+				_data_fov[wrapped_bin] = 1;
 			}
 		}
 	}
@@ -468,8 +472,10 @@ CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint, const Vec
 						}
 					}
 
-				} else if (_obstacle_map_body_frame.distances[i] == UINT16_MAX && i == sp_index && (!move_no_data)) {
-					vel_max = 0.f;
+				} else if (_obstacle_map_body_frame.distances[i] == UINT16_MAX && i == sp_index) {
+					if (!move_no_data || (move_no_data && _data_fov[i])) {
+						vel_max = 0.f;
+					}
 				}
 			}
 
diff --git a/src/lib/collision_prevention/CollisionPrevention.hpp b/src/lib/collision_prevention/CollisionPrevention.hpp
index aac78e1c24..63e9909282 100644
--- a/src/lib/collision_prevention/CollisionPrevention.hpp
+++ b/src/lib/collision_prevention/CollisionPrevention.hpp
@@ -85,6 +85,7 @@ public:
 protected:
 
 	obstacle_distance_s _obstacle_map_body_frame {};
+	bool _data_fov[sizeof(_obstacle_map_body_frame.distances) / sizeof(_obstacle_map_body_frame.distances[0])];
 	uint64_t _data_timestamps[sizeof(_obstacle_map_body_frame.distances) / sizeof(_obstacle_map_body_frame.distances[0])];
 	uint16_t _data_maxranges[sizeof(_obstacle_map_body_frame.distances) / sizeof(
 										    _obstacle_map_body_frame.distances[0])]; /**< in cm */
diff --git a/src/lib/collision_prevention/CollisionPreventionTest.cpp b/src/lib/collision_prevention/CollisionPreventionTest.cpp
index 774a9cd2a6..d8aeb1e776 100644
--- a/src/lib/collision_prevention/CollisionPreventionTest.cpp
+++ b/src/lib/collision_prevention/CollisionPreventionTest.cpp
@@ -272,7 +272,7 @@ TEST_F(CollisionPreventionTest, testPurgeOldData)
 	cp.paramsChanged();
 
 	// AND: an obstacle message
-	obstacle_distance_s message, message_empty;
+	obstacle_distance_s message, message_lost_data;
 	memset(&message, 0xDEAD, sizeof(message));
 	message.frame = message.MAV_FRAME_GLOBAL; //north aligned
 	message.min_distance = 100;
@@ -281,20 +281,23 @@ TEST_F(CollisionPreventionTest, testPurgeOldData)
 	message.timestamp = start_time;
 	int distances_array_size = sizeof(message.distances) / sizeof(message.distances[0]);
 	message.increment = 360 / distances_array_size;
-	message_empty = message;
+	message_lost_data = message;
 
 	for (int i = 0; i < distances_array_size; i++) {
 		if (i < 10) {
 			message.distances[i] = 10001;
+			message_lost_data.distances[i] = UINT16_MAX;
+
+		} else if (i > 15 && i < 18) {
+			message.distances[i] = 10001;
+			message_lost_data.distances[i] = 10001;
 
 		} else {
 			message.distances[i] = UINT16_MAX;
+			message_lost_data.distances[i] = UINT16_MAX;
 		}
-
-		message_empty.distances[i] = UINT16_MAX;
 	}
 
-
 	// WHEN: we publish the message and set the parameter and then run the setpoint modification
 	orb_advert_t obstacle_distance_pub = orb_advertise(ORB_ID(obstacle_distance), &message);
 	orb_advert_t vehicle_attitude_pub = orb_advertise(ORB_ID(vehicle_attitude), &attitude);
@@ -307,8 +310,16 @@ TEST_F(CollisionPreventionTest, testPurgeOldData)
 		cp.modifySetpoint(modified_setpoint, max_speed, curr_pos, curr_vel);
 
 		mocked_time = mocked_time + 100000; //advance time by 0.1 seconds
-		message_empty.timestamp = mocked_time;
-		orb_publish(ORB_ID(obstacle_distance), obstacle_distance_pub, &message_empty);
+		message_lost_data.timestamp = mocked_time;
+		orb_publish(ORB_ID(obstacle_distance), obstacle_distance_pub, &message_lost_data);
+
+		//at iteration 8 change the CP_GO_NO_DATA to True
+		if (i == 8) {
+			param_t param_allow = param_handle(px4::params::CP_GO_NO_DATA);
+			float value_allow = 1;
+			param_set(param_allow, &value_allow);
+			cp.paramsChanged();
+		}
 
 		if (i < 6) {
 			// THEN: If the data is new enough, the velocity setpoint should stay the same as the input
@@ -317,6 +328,7 @@ TEST_F(CollisionPreventionTest, testPurgeOldData)
 
 		} else {
 			// THEN: If the data is expired, the velocity setpoint should be cut down to zero because there is no data
+			//(even if CP_GO_NO_DATA is set to true, because we once had data in those bins and now lost the sensor)
 			EXPECT_FLOAT_EQ(0.f, modified_setpoint.norm()) << modified_setpoint(0) << "," << modified_setpoint(1);
 		}
 	}