diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
index 0b76bbaca9..79a52f41c5 100644
--- a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
@@ -54,12 +54,11 @@ StraightLine::StraightLine(ModuleParams *parent, const float &deltatime, const m
 void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint)
 {
 	// Check if target position has been reached
-	if (_is_target_reached || (_desired_speed_at_target < VEL_ZERO_THRESHOLD &&
-				   (_pos - _target).length() < NAV_ACC_RAD.get())) {
+	if (_desired_speed_at_target < VEL_ZERO_THRESHOLD &&
+				   (_pos - _target).length() < NAV_ACC_RAD.get()) {
 		// Vehicle has reached target. Lock position
 		position_setpoint = _target;
 		velocity_setpoint = Vector3f(0.0f, 0.0f, 0.0f);
-		_is_target_reached = true;
 
 		return;
 	}
@@ -171,7 +170,6 @@ void StraightLine::setTarget(const matrix::Vector3f &target)
 {
 	if (PX4_ISFINITE(target(0)) && PX4_ISFINITE(target(1)) && PX4_ISFINITE(target(2))) {
 		_target = target;
-		_is_target_reached = false;
 
 		// set all parameters to their default value (depends on the direction)
 		setAllDefaults();
diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp b/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
index 131fb96d96..bd564943d3 100644
--- a/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
@@ -92,8 +92,6 @@ private:
 	float _desired_speed{0.0f};              /**< desired maximum velocity */
 	float _desired_speed_at_target{0.0f};    /**< desired velocity at target point */
 
-	bool _is_target_reached{false};
-
 	matrix::Vector3f _target{};              /**< End point of the straight line */
 	matrix::Vector3f _origin{};              /**< Start point of the straight line */