diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
index 2e095c7305..9eac74d066 100644
--- a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
@@ -123,6 +123,14 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
 	// that one is used as a velocity limit.
 	// If the position setpoints are set to NAN, the values in the velocity setpoints are used as velocity targets: nothing to do here.
 
+	// Check if a reset event has happened.
+	if (_sub_vehicle_local_position->get().xy_reset_counter != _reset_counter) {
+		// Reset the XY axes
+		_trajectory[0].setCurrentPosition(_position(0));
+		_trajectory[1].setCurrentPosition(_position(1));
+		_reset_counter = _sub_vehicle_local_position->get().xy_reset_counter;
+	}
+
 	if (PX4_ISFINITE(_position_setpoint(0)) &&
 	    PX4_ISFINITE(_position_setpoint(1))) {
 		// Use position setpoints to generate velocity setpoints
diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
index d5cd55c836..144ab41e10 100644
--- a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
+++ b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
@@ -76,4 +76,5 @@ protected:
 	void _generateTrajectory();
 	VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
 	float _yaw_sp_prev;
+	uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */
 };