diff --git a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
index 0243fecdd7..b2e5ec473b 100644
--- a/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
@@ -130,7 +130,9 @@ void FlightTaskManualAltitudeSmoothVel::_updateSetpoints()
 	 * is used to set current velocity of the trajectory.
 	 */
 
-	if (fabsf(_velocity_setpoint(2)) > FLT_EPSILON) {
+	const float velocity_target_z = _velocity_setpoint(2);
+
+	if (fabsf(velocity_target_z) > FLT_EPSILON) {
 		if (_position_lock_z_active) {
 			_smoothing.setCurrentVelocity(_velocity_setpoint_feedback(
 							      2)); // Start the trajectory at the current velocity setpoint
@@ -159,7 +161,7 @@ void FlightTaskManualAltitudeSmoothVel::_updateSetpoints()
 
 	if (fabsf(_vel_sp_smooth) < 0.1f &&
 	    fabsf(_acceleration_setpoint(2)) < .2f &&
-	    fabsf(_velocity_setpoint(2)) <= FLT_EPSILON) {
+	    fabsf(velocity_target_z) <= FLT_EPSILON) {
 		_position_lock_z_active = true;
 	}
 
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
index a0bb693460..d73b012ee6 100644
--- a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
@@ -169,9 +169,10 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
 	 * and only the feedforward (generated by this flight task) will remain. This is why the previous input of the velocity controller
 	 * is used to set current velocity of the trajectory.
 	 */
-	Vector2f velocity_setpoint_xy = Vector2f(&_velocity_setpoint(0));
+	const Vector2f velocity_target_xy = Vector2f(_velocity_setpoint);
+	const float velocity_target_z = _velocity_setpoint(2);
 
-	if (velocity_setpoint_xy.length() > FLT_EPSILON) {
+	if (velocity_target_xy.length() > FLT_EPSILON) {
 		if (_position_lock_xy_active) {
 			_smoothing[0].setCurrentVelocity(_velocity_setpoint_feedback(
 					0)); // Start the trajectory at the current velocity setpoint
@@ -183,7 +184,7 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
 		_position_lock_xy_active = false;
 	}
 
-	if (fabsf(_velocity_setpoint(2)) > FLT_EPSILON) {
+	if (fabsf(velocity_target_z) > FLT_EPSILON) {
 		if (_position_lock_z_active) {
 			_smoothing[2].setCurrentVelocity(_velocity_setpoint_feedback(
 					2)); // Start the trajectory at the current velocity setpoint
@@ -233,13 +234,13 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
 	// Check for position lock transition
 	if (Vector2f(_vel_sp_smooth).length() < 0.1f &&
 	    Vector2f(_acceleration_setpoint).length() < .2f &&
-	    velocity_setpoint_xy.length() <= FLT_EPSILON) {
+	    velocity_target_xy.length() <= FLT_EPSILON) {
 		_position_lock_xy_active = true;
 	}
 
 	if (fabsf(_vel_sp_smooth(2)) < 0.1f &&
 	    fabsf(_acceleration_setpoint(2)) < .2f &&
-	    fabsf(_velocity_setpoint(2)) <= FLT_EPSILON) {
+	    fabsf(velocity_target_z) <= FLT_EPSILON) {
 		_position_lock_z_active = true;
 	}