diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index 33ad8135cf..07de7cfa4c 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -341,7 +341,7 @@ void AC_WPNav::wp_and_spline_init()
 void AC_WPNav::set_speed_xy(float speed_cms)
 {
     // range check new target speed and update position controller
-    if (_wp_speed_cms >= WPNAV_WP_SPEED_MIN) {
+    if (speed_cms >= WPNAV_WP_SPEED_MIN) {
         _wp_speed_cms = speed_cms;
         _pos_control.set_speed_xy(_wp_speed_cms);
         // flag that wp leash must be recalculated