diff --git a/src/lib/FlightTasks/tasks/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask.cpp
index 8b66b03b83..fb0dddeb90 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.cpp
@@ -69,6 +69,7 @@ bool FlightTask::_evaluateVehicleLocalPosition()
 		return true;
 
 	} else {
+		_resetSetpoints();
 		_velocity.zero(); /* default velocity is all zero */
 		return false;
 	}