diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index b7a7b2cfbc..16f46d23db 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -695,7 +695,7 @@ void AC_WPNav::set_spline_origin_and_destination(const Vector3f& origin, const V
             // before beginning it's spline path to the next waypoint. Note: we are using the previous segment's origin and destination
             _spline_origin_vel = (_destination - _origin);
             _spline_time = 0.0f;	// To-Do: this should be set based on how much overrun there was from straight segment?
-            _spline_vel_scaler = 0.0f;    // To-Do: this should be set based on speed at end of prev straight segment?
+            _spline_vel_scaler = _pos_control.get_vel_target().length();    // start velocity target from current target velocity
         }else{
             // previous segment is splined, vehicle will fly through origin
             // we can use the previous segment's destination velocity as this segment's origin velocity
@@ -707,7 +707,7 @@ void AC_WPNav::set_spline_origin_and_destination(const Vector3f& origin, const V
             }else{
                 _spline_time = 0.0f;
             }
-            _spline_vel_scaler = 0.0f;
+            // Note: we leave _spline_vel_scaler as it was from end of previous segment
         }
     }