diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
index c117d6b668..4b4a41cf65 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
@@ -279,7 +279,6 @@ bool FlightTaskAuto::_evaluateTriplets()
 				_triplet_next_wp,
 				_sub_triplet_setpoint->get().next.yaw,
 				_sub_triplet_setpoint->get().next.yawspeed_valid ? _sub_triplet_setpoint->get().next.yawspeed : NAN);
-		_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
 		_obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt);
 	}
 
diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
index 5120332427..172053d485 100644
--- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
+++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
@@ -86,6 +86,8 @@ bool FlightTaskAutoMapper::update()
 		_generateVelocitySetpoints();
 	}
 
+	_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
+
 	_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
 			_yawspeed_setpoint);
 
diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
index 6ed7065cbb..dc0c751390 100644
--- a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
+++ b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
@@ -91,6 +91,8 @@ bool FlightTaskAutoMapper2::update()
 		break;
 	}
 
+	_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
+
 	_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
 			_yawspeed_setpoint);