diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
index f46dd955b0ba5fc96cd5a2aa3dab81ee6e287ebb..c7ab200be91da394490bba5ad91349b49da1f6ae 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() * _param_mpc_xy_traj_p.get();
-		speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed);
+		speed_sp_track = math::constrain(speed_sp_track, 0.0f, _param_mpc_xy_cruise.get());
 
 		Vector2f vel_sp_xy = u_pos_traj_to_dest_xy * speed_sp_track;