diff --git a/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp b/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp
index f9abb1defa..55e58e03c6 100644
--- a/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp
@@ -223,9 +223,9 @@ void FlightTaskOrbit::generate_circle_setpoints(Vector2f center_to_position)
 	// xy velocity adjustment to stay on the radius distance
 	velocity_xy += (_r - center_to_position.norm()) * center_to_position.unit_or_zero();
 
-	_velocity_setpoint(0) = velocity_xy(0);
-	_velocity_setpoint(1) = velocity_xy(1);
 	_position_setpoint(0) = _position_setpoint(1) = NAN;
+	_velocity_setpoint.xy() = velocity_xy;
+	_acceleration_setpoint.xy() = -center_to_position.unit_or_zero() * _v * _v / _r;
 }
 
 void FlightTaskOrbit::generate_circle_yaw_setpoints(Vector2f center_to_position)