diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index fe34719c98c1..4ab6e4a61a1a 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -816,7 +816,7 @@ void FlightTaskAuto::_updateTrajConstraints()
 	// correction required by the altitude/vertical position controller
 	_constraints.speed_down = 1.2f * _param_mpc_z_v_auto_dn.get();
 	_constraints.speed_up = 1.2f * _param_mpc_xy_vel_max.get();
-	_constraints.speed_xy = 1.2f * _param_mpc_xy_vel_max.get();
+	_constraints.speed_xy = 1.2f * _param_mpc_xy_vel_max.get();;
 
 	if (_is_emergency_braking_active) {
 		// When initializing with large velocity, allow 1g of
diff --git a/src/modules/mc_pos_control/GotoControl/GotoControl.cpp b/src/modules/mc_pos_control/GotoControl/GotoControl.cpp
index 2453997dcb15..a3fc4f44bf44 100644
--- a/src/modules/mc_pos_control/GotoControl/GotoControl.cpp
+++ b/src/modules/mc_pos_control/GotoControl/GotoControl.cpp
@@ -128,6 +128,7 @@ void GotoControl::update(const float dt, const matrix::Vector3f &position, const
 		.timestamp = goto_setpoint.timestamp,
 		.speed_up = NAN,
 		.speed_down = NAN,
+		.speed_xy = NAN,
 		.want_takeoff = false
 	};
 	_vehicle_constraints_pub.publish(vehicle_constraints);
diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.hpp b/src/modules/mc_pos_control/MulticopterPositionControl.hpp
index f7cd9bbbe09a..cc03bc2623ee 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.hpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.hpp
@@ -119,6 +119,7 @@ class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>
 		.timestamp = 0,
 		.speed_up = NAN,
 		.speed_down = NAN,
+		.speed_xy = NAN,
 		.want_takeoff = false,
 	};