diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
index 8dd2c521e7..6b94db7672 100644
--- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
@@ -246,6 +246,7 @@ void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s
 	local_position_setpoint.vy = _vel_sp(1);
 	local_position_setpoint.vz = _vel_sp(2);
 	_acc_sp.copyTo(local_position_setpoint.acceleration);
+	nans<3, 1>().copyTo(local_position_setpoint.jerk);
 	_thr_sp.copyTo(local_position_setpoint.thrust);
 }
 
diff --git a/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp b/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
index 5e625d0878..96698c509d 100644
--- a/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
+++ b/src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
@@ -52,7 +52,7 @@ TEST(PositionControlTest, EmptySetpoint)
 	EXPECT_FLOAT_EQ(output_setpoint.vy, 0.f);
 	EXPECT_FLOAT_EQ(output_setpoint.vz, 0.f);
 	EXPECT_EQ(Vector3f(output_setpoint.acceleration), Vector3f(0.f, 0.f, 0.f));
-	EXPECT_EQ(Vector3f(output_setpoint.jerk), Vector3f(0.f, 0.f, 0.f));
+	EXPECT_EQ(Vector3f(output_setpoint.jerk), Vector3f(NAN, NAN, NAN));
 	EXPECT_EQ(Vector3f(output_setpoint.thrust), Vector3f(0, 0, 0));
 
 	vehicle_attitude_setpoint_s attitude{};