diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
index 613ba8cbeb..5feefc8310 100644
--- a/libraries/AC_WPNav/AC_Circle.cpp
+++ b/libraries/AC_WPNav/AC_Circle.cpp
@@ -54,6 +54,8 @@ void AC_Circle::init(const Vector3f& center)
     _center = center;
 
     // initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
+    _pos_control.set_desired_accel_xy(0.0f,0.0f);
+    _pos_control.set_desired_velocity_xy(0.0f,0.0f);
     _pos_control.init_xy_controller();
 
     // set initial position target to reasonable stopping point
@@ -72,6 +74,8 @@ void AC_Circle::init(const Vector3f& center)
 void AC_Circle::init()
 {
     // initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
+    _pos_control.set_desired_accel_xy(0.0f,0.0f);
+    _pos_control.set_desired_velocity_xy(0.0f,0.0f);
     _pos_control.init_xy_controller();
 
     // set initial position target to reasonable stopping point