diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
index b901e4a8a5..952e782a16 100644
--- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
@@ -154,9 +154,17 @@ FixedwingPositionINDIControl::parameters_update()
     _origin_lat = _param_origin_lat.get();
     _origin_lon = _param_origin_lon.get();
     _origin_alt = _param_origin_alt.get();
-    if (map_projection_project(&_global_local_proj_ref, _origin_lat, _origin_lon, &_origin_E, &_origin_N)) {
-        // TODO: do stuff
-    }
+    // check if local NED reference frame origin has changed:
+    // || (_local_pos.vxy_reset_counter != _pos_reset_counter
+    // initialize projection
+    map_projection_init_timestamped(&_global_local_proj_ref, _local_pos.ref_lat, _local_pos.ref_lon,
+                    _local_pos.ref_timestamp);
+    // project the origin of the soaring ENU frame to the current NED frame
+    map_projection_project(&_global_local_proj_ref, _origin_lat, _origin_lon, &_origin_N, &_origin_E);
+    _origin_D =  _local_pos.ref_alt - _origin_alt;
+    PX4_INFO("local reference frame updated");
+    
+
 
     _loiter = _param_loiter.get();
     _select_trajectory(0.0f);
@@ -540,7 +548,7 @@ FixedwingPositionINDIControl::Run()
             map_projection_init_timestamped(&_global_local_proj_ref, _local_pos.ref_lat, _local_pos.ref_lon,
                             _local_pos.ref_timestamp);
             // project the origin of the soaring ENU frame to the current NED frame
-            map_projection_project(&_global_local_proj_ref, _origin_lat, _origin_lon, &_origin_E, &_origin_N);
+            map_projection_project(&_global_local_proj_ref, _origin_lat, _origin_lon, &_origin_N, &_origin_E);
             _origin_D =  _local_pos.ref_alt - _origin_alt;
             PX4_INFO("local reference frame updated");
         }
diff --git a/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c b/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
index 60ddea4574..af63df0f9b 100644
--- a/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+++ b/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
@@ -510,25 +510,25 @@ PARAM_DEFINE_FLOAT(DS_K_DAMP_YAW, 0.0f);
  * latitude of trajectory start point (WGS84)
  * 
  * @unit 
- * @min -180
- * @max 180
- * @decimal 7
- * @increment 0.0000001
- * @group FW DYN SOAR Control
- */
-PARAM_DEFINE_FLOAT(DS_ORIGIN_LAT, 47.39797f);
-
-/**
- * longitude of trajectory start point (WGS84)
- * 
- * @unit 
  * @min -90
  * @max 90
  * @decimal 7
  * @increment 0.0000001
  * @group FW DYN SOAR Control
  */
-PARAM_DEFINE_FLOAT(DS_ORIGIN_LON, 8.54554f);
+PARAM_DEFINE_FLOAT(DS_ORIGIN_LAT, 47.3135000f);
+
+/**
+ * longitude of trajectory start point (WGS84)
+ * 
+ * @unit 
+ * @min -180
+ * @max 180
+ * @decimal 7
+ * @increment 0.0000001
+ * @group FW DYN SOAR Control
+ */
+PARAM_DEFINE_FLOAT(DS_ORIGIN_LON, 8.8101000f);
 
 /**
  * altitude of trajectory start point (WGS84)
@@ -540,7 +540,7 @@ PARAM_DEFINE_FLOAT(DS_ORIGIN_LON, 8.54554f);
  * @increment 0.1
  * @group FW DYN SOAR Control
  */
-PARAM_DEFINE_FLOAT(DS_ORIGIN_ALT, 488.0f);
+PARAM_DEFINE_FLOAT(DS_ORIGIN_ALT, 537.0f);
 
 
 // ======================================================