diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index 7cb37936e8..5ef13a84eb 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -330,6 +330,11 @@ void AC_WPNav::update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler)
         // initialise ekf position reset check
         check_for_ekf_position_reset();
 
+        // initialise pos controller speed and acceleration
+        _pos_control.set_speed_xy(_loiter_speed_cms);
+        _pos_control.set_accel_xy(_loiter_accel_cmss);
+        _pos_control.set_jerk_xy(_loiter_jerk_max_cmsss);
+
         calc_loiter_desired_velocity(dt,ekfGndSpdLimit);
         _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler, true);
     }