diff --git a/src/lib/FlightTasks/FlightTasks.cpp b/src/lib/FlightTasks/FlightTasks.cpp
index 9e5cb76b62..9e4279c50f 100644
--- a/src/lib/FlightTasks/FlightTasks.cpp
+++ b/src/lib/FlightTasks/FlightTasks.cpp
@@ -58,6 +58,12 @@ const vehicle_trajectory_waypoint_s FlightTasks::getAvoidanceWaypoint()
 	}
 }
 
+const vehicle_trajectory_waypoint_s FlightTasks::getEmptyAvoidanceWaypoint()
+{
+
+	return FlightTask::empty_trajectory_waypoint;
+}
+
 int FlightTasks::switchTask(FlightTaskIndex new_task_index)
 {
 	// switch to the running task, nothing to do
diff --git a/src/lib/FlightTasks/FlightTasks.hpp b/src/lib/FlightTasks/FlightTasks.hpp
index fc30c8d7eb..c795aeb55c 100644
--- a/src/lib/FlightTasks/FlightTasks.hpp
+++ b/src/lib/FlightTasks/FlightTasks.hpp
@@ -83,6 +83,12 @@ public:
 	 */
 	const vehicle_trajectory_waypoint_s getAvoidanceWaypoint();
 
+	/**
+	 * Get empty avoidance desired waypoints
+	 * @return empty triplets in the mc_pos_control
+	 */
+	const vehicle_trajectory_waypoint_s getEmptyAvoidanceWaypoint();
+
 	/**
 	 * Switch to the next task in the available list (for testing)
 	 * @return 1 on success, <0 on error