diff --git a/CHANGELOG.md b/CHANGELOG.md
index abea75fa..e2e5c677 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,6 +3,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
 
 * CANSimple messages which previously required the rtr bit to be set will now also respond if DLC = 0
 * Ensure endstops update before being checked for errors, to prevent [#625](https://github.com/odriverobotics/ODrive/issues/625)
+* Reset trajectory_done_ during homing to ensure a new trajectory is actually computed [#634](https://github.com/odriverobotics/ODrive/issues/634)
 
 # Releases
 ## [0.5.4] - 2021-10-12
diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 89c56f6b..d8579c5b 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -421,6 +421,10 @@ bool Axis::run_homing() {
     controller_.pos_setpoint_ = pos_estimate_local.value();
     controller_.vel_setpoint_ = 0.0f;
     controller_.input_pos_updated();
+
+    // Synchronization issue.  Ensure trajectory_done is false prior to the while loop, so that
+    // the controller has time to run move_to_pos() on the next update()
+    controller_.trajectory_done_ = false; 
     
     while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_ && !(done = controller_.trajectory_done_)) {
         osDelay(1);