diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
index d1ffe3d49669fb8e0f7071d4e839d0a60f5dc0a0..4a4b496d3d3dcfe5b1e934d4faa91e5ebd5422a1 100644
--- a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
@@ -167,7 +167,7 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
 		Vector2f u_pos_traj_to_dest_xy(Vector2f(pos_traj_to_dest).unit_or_zero());
 
 		float speed_sp_track = Vector2f(pos_traj_to_dest).length() * MPC_XY_TRAJ_P.get();
-		speed_sp_track = math::constrain(speed_sp_track, 0.0f, MPC_XY_CRUISE.get());
+		speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed);
 		Vector2f vel_sp_xy = u_pos_traj_to_dest_xy * speed_sp_track;
 
 		for (int i = 0; i < 2; i++) {