diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
index 4f78b9c6fe..080abaa6e0 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
@@ -103,8 +103,8 @@ void ObstacleAvoidance::injectAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel
 		PX4_WARN("Obstacle Avoidance system failed, loitering");
 		_publishVehicleCmdDoLoiter();
 
-		if (!PX4_ISFINITE(_failsafe_position(0)) && !PX4_ISFINITE(_failsafe_position(1))
-		    && !PX4_ISFINITE(_failsafe_position(2))) {
+		if (!PX4_ISFINITE(_failsafe_position(0)) || !PX4_ISFINITE(_failsafe_position(1))
+		    || !PX4_ISFINITE(_failsafe_position(2))) {
 			// save vehicle position when entering failsafe
 			_failsafe_position = _position;
 		}
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
index fcb97816bf..0472882a6d 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
@@ -116,7 +116,7 @@ private:
 	orb_advert_t _pub_vehicle_command{nullptr}; /**< vehicle command do publication */
 
 	matrix::Vector3f _curr_wp = {}; /**< current position triplet */
-	matrix::Vector3f _position = {}; /**< current position triplet */
+	matrix::Vector3f _position = {}; /**< current vehicle position */
 	matrix::Vector3f _failsafe_position = {}; /**< vehicle position when entered in failsafe */
 
 	/**