diff --git a/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp b/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp
index efae62a3b5..5be4af3f9f 100644
--- a/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/VelocitySmoothing.cpp
@@ -166,8 +166,22 @@ void VelocitySmoothing::updateDurations(float t_now, float vel_setpoint)
 	_t0 = t_now;
 	_state_init = _state;
 
+	// Compute the velocity at which the trajectory will be
+	// when the acceleration will be zero
+	float vel_zero_acc = _state.v;
+        if (fabsf(_state.a) > FLT_EPSILON) {
+            float j_zero_acc = -math::sign(_state.a) * _max_jerk; // Required jerk to reduce the acceleration
+            float t_zero_acc = -_state.a / j_zero_acc; // Required time to cancel the current acceleration
+            vel_zero_acc = _state.v + _state.a * t_zero_acc + 0.5f * j_zero_acc * t_zero_acc * t_zero_acc;
+	}
+
 	/* Depending of the direction, start accelerating positively or negatively */
-	_direction = math::sign(_vel_sp - _state.v);
+	_direction = math::sign(_vel_sp - vel_zero_acc);
+	if (_direction == 0) {
+		// If by braking immediately the velocity is exactly
+		// the require one with zero acceleration, then brake
+		_direction = -math::sign(_vel_sp - _state.v);
+	}
 
 	if (_direction != 0) {
 		updateDurations();