diff --git a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.cpp b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.cpp
index 1c3e0f0011..f3765a7ca6 100644
--- a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.cpp
+++ b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.cpp
@@ -225,7 +225,7 @@ bool TargetEstimator::measurement_can_be_fused(const Vector3f &current_measureme
 	// return measurement_valid;
 }
 
-void TargetEstimator::measurement_update(follow_target_s follow_target)
+void TargetEstimator::measurement_update(const follow_target_s &follow_target)
 {
 	_fusion_count++;
 	// Decompose follow_target message into the individual measurements for position and velocity
diff --git a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.hpp b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.hpp
index 4dc22e455a..7886c21977 100644
--- a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.hpp
+++ b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.hpp
@@ -157,7 +157,7 @@ protected:
 	 *
 	 * @param follow_target GPS data last received from target
 	 */
-	void measurement_update(follow_target_s follow_target);
+	void measurement_update(const follow_target_s &follow_target);
 
 	/**
 	 * Perform prediction step based on simple position-velocity-acceleration model of a point mass