diff --git a/src/modules/rover_pos_control/RoverPositionControl.cpp b/src/modules/rover_pos_control/RoverPositionControl.cpp
index 1515a8a631..304364b8a9 100644
--- a/src/modules/rover_pos_control/RoverPositionControl.cpp
+++ b/src/modules/rover_pos_control/RoverPositionControl.cpp
@@ -421,17 +421,17 @@ RoverPositionControl::Run()
 
 			position_setpoint_triplet_poll();
 
-			// Convert Local setpoints to global setpoints
-			if (_control_mode.flag_control_offboard_enabled) {
-				if (!_global_local_proj_ref.isInitialized()
-				    || (_global_local_proj_ref.getProjectionReferenceTimestamp() != _local_pos.ref_timestamp)) {
+			if (!_global_local_proj_ref.isInitialized()
+			    || (_global_local_proj_ref.getProjectionReferenceTimestamp() != _local_pos.ref_timestamp)) {
 
-					_global_local_proj_ref.initReference(_local_pos.ref_lat, _local_pos.ref_lon,
-									     _local_pos.ref_timestamp);
+				_global_local_proj_ref.initReference(_local_pos.ref_lat, _local_pos.ref_lon,
+								     _local_pos.ref_timestamp);
 
-					_global_local_alt0 = _local_pos.ref_alt;
-				}
+				_global_local_alt0 = _local_pos.ref_alt;
+			}
 
+			// Convert Local setpoints to global setpoints
+			if (_control_mode.flag_control_offboard_enabled) {
 				_trajectory_setpoint_sub.update(&_trajectory_setpoint);
 
 				// local -> global