diff --git a/src/modules/fw_mode_manager/FixedWingModeManager.cpp b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
index 205a34ff6f..d33d241c16 100644
--- a/src/modules/fw_mode_manager/FixedWingModeManager.cpp
+++ b/src/modules/fw_mode_manager/FixedWingModeManager.cpp
@@ -2105,9 +2105,10 @@ FixedWingModeManager::Run()
 
 				}
 
-				if (PX4_ISFINITE(trajectory_setpoint.velocity[0]) && PX4_ISFINITE(trajectory_setpoint.velocity[1])) {
+				if (PX4_ISFINITE(trajectory_setpoint.velocity[0]) && PX4_ISFINITE(trajectory_setpoint.velocity[1])
+				    && PX4_ISFINITE(_pos_sp_triplet.current.lat) && PX4_ISFINITE(_pos_sp_triplet.current.lon)) {
+					// Only accept horizontal velocity setpoints if a valid horizontal position has been set.
 					valid_setpoint = true;
-					_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
 					_pos_sp_triplet.current.vx = trajectory_setpoint.velocity[0];
 					_pos_sp_triplet.current.vy = trajectory_setpoint.velocity[1];