diff --git a/conf/flight_plans/poles.xml b/conf/flight_plans/poles.xml
index dbc0b3731f..2789c36e4e 100644
--- a/conf/flight_plans/poles.xml
+++ b/conf/flight_plans/poles.xml
@@ -48,7 +48,7 @@
       <go wp="TARGET" approaching_time="0"/>
       <set value="MAX_PPRZ" var="ap_state->commands[COMMAND_HATCH]"/>
     </block>
-    <block name="Poles 2">
+    <block name="Poles 2" pre_call="nav_ground_speed_loop()">
       <oval p1="C1" p2="C2" radius="nav_radius" until="nav_oval_count>=nav_poles_count"/>
     </block>
     <block name="Land Right AF-TD" strip_button="Land right (wp AF-TD)" strip_icon="land-right.png">
diff --git a/sw/airborne/nav.c b/sw/airborne/nav.c
index 07b2609ab0..9907bc1be6 100644
--- a/sw/airborne/nav.c
+++ b/sw/airborne/nav.c
@@ -205,11 +205,16 @@ static inline void nav_follow(uint8_t _ac_id, float _distance, float _height);
 #ifdef NAV_GROUND_SPEED_PGAIN
 /** \brief Computes cruise throttle from ground speed setpoint
  */
-static bool_t nav_ground_speed_loop( void ) {
-  float err = estimator_hspeed_mod - nav_ground_speed_setpoint;
-  v_ctl_auto_throttle_cruise_throttle += nav_ground_speed_pgain*err;
-  Bound(v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE);
-  return FALSE;
+static void nav_ground_speed_loop( void ) {
+  if (MINIMUM_AIRSPEED < nav_ground_speed_setpoint
+      && nav_ground_speed_setpoint < MAXIMUM_AIRSPEED) {
+    float err = estimator_hspeed_mod - nav_ground_speed_setpoint;
+    v_ctl_auto_throttle_cruise_throttle += nav_ground_speed_pgain*err;
+    Bound(v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE);
+  } else {
+    /* Reset cruise throttle to nominal value */
+    v_ctl_auto_throttle_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
+  }
 }
 #endif