diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
index 2c496e56b1..38cdb007a3 100644
--- a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -42,7 +42,7 @@
 
 using namespace matrix;
 
-FlightTaskOrbit::FlightTaskOrbit()
+FlightTaskOrbit::FlightTaskOrbit() : _circle_approach_line(_position)
 {
 	_sticks_data_required = false;
 }
@@ -178,17 +178,20 @@ bool FlightTaskOrbit::update()
 	setRadius(r);
 	setVelocity(v);
 
-	// xy velocity to go around in a circle
 	Vector2f center_to_position = Vector2f(_position) - _center;
-	Vector2f velocity_xy(-center_to_position(1), center_to_position(0));
-	velocity_xy = velocity_xy.unit_or_zero();
-	velocity_xy *= _v;
+	const float distance_to_center = center_to_position.norm();
 
-	// xy velocity adjustment to stay on the radius distance
-	velocity_xy += (_r - center_to_position.norm()) * center_to_position.unit_or_zero();
+	// perpendicularly approach the orbit circle if further away than 3 meters
+	if (!_in_circle_approach && !math::isInRange(distance_to_center, _r - 3.f, _r + 3.f)) {
+		_in_circle_approach = true;
+	}
 
-	_velocity_setpoint(0) = velocity_xy(0);
-	_velocity_setpoint(1) = velocity_xy(1);
+	if (_in_circle_approach) {
+		generate_circle_approach_setpoints();
+
+	} else {
+		generate_circle_setpoints(center_to_position);
+	}
 
 	// make vehicle front always point towards the center
 	_yaw_setpoint = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
@@ -200,3 +203,35 @@ bool FlightTaskOrbit::update()
 
 	return true;
 }
+
+void FlightTaskOrbit::generate_circle_approach_setpoints()
+{
+	if (_circle_approach_line.isEndReached()) {
+		// calculate target point on circle and plan a line trajectory
+		Vector2f start_to_center = _center - Vector2f(_position);
+		Vector2f start_to_circle = (start_to_center.norm() - _r) * start_to_center.unit_or_zero();
+		Vector2f closest_circle_point = Vector2f(_position) + start_to_circle;
+		Vector3f target = Vector3f(closest_circle_point(0), closest_circle_point(1), _position(2));
+		_circle_approach_line.setLineFromTo(_position, target);
+		_circle_approach_line.setSpeed(_param_mpc_xy_cruise.get());
+	}
+
+	// follow the planned line and switch to orbiting once the circle is reached
+	_circle_approach_line.generateSetpoints(_position_setpoint, _velocity_setpoint);
+	_in_circle_approach = !_circle_approach_line.isEndReached();
+}
+
+void FlightTaskOrbit::generate_circle_setpoints(Vector2f center_to_position)
+{
+	// xy velocity to go around in a circle
+	Vector2f velocity_xy(-center_to_position(1), center_to_position(0));
+	velocity_xy = velocity_xy.unit_or_zero();
+	velocity_xy *= _v;
+
+	// xy velocity adjustment to stay on the radius distance
+	velocity_xy += (_r - center_to_position.norm()) * center_to_position.unit_or_zero();
+
+	_velocity_setpoint(0) = velocity_xy(0);
+	_velocity_setpoint(1) = velocity_xy(1);
+	_position_setpoint(0) = _position_setpoint(1) = NAN;
+}
diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp
index e7688df98f..08df6a453f 100644
--- a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp
+++ b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2017-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -43,6 +43,7 @@
 
 #include "FlightTaskManualAltitudeSmooth.hpp"
 #include <uORB/uORB.h>
+#include <StraightLine.hpp>
 
 class FlightTaskOrbit : public FlightTaskManualAltitudeSmooth
 {
@@ -86,10 +87,16 @@ protected:
 	bool setVelocity(const float v);
 
 private:
+	void generate_circle_approach_setpoints(); /**< generates setpoints to smoothly reach the closest point on the circle when starting from far away */
+	void generate_circle_setpoints(matrix::Vector2f center_to_position); /**< generates xy setpoints to orbit the vehicle */
+
 	float _r = 0.f; /**< radius with which to orbit the target */
 	float _v = 0.f; /**< clockwise tangential velocity for orbiting in m/s */
 	matrix::Vector2f _center; /**< local frame coordinates of the center point */
 
+	bool _in_circle_approach = false;
+	StraightLine _circle_approach_line;
+
 	// TODO: create/use parameters for limits
 	const float _radius_min = 1.f;
 	const float _radius_max = 100.f;
@@ -97,4 +104,8 @@ private:
 	const float _acceleration_max = 2.f;
 
 	orb_advert_t _orbit_status_pub = nullptr;
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise /**< cruise speed for circle approach */
+	)
 };