diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
index b7aa7e2e6c..1465ebb931 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
@@ -190,7 +190,7 @@ void ObstacleAvoidance::checkAvoidanceProgress(const Vector3f &pos, const Vector
 
 	const float pos_to_target_z = fabsf(_curr_wp(2) - _position(2));
 
-	if (pos_to_target.length() < target_acceptance_radius && pos_to_target_z > NAV_MC_ALT_RAD.get()
+	if (pos_to_target.length() < target_acceptance_radius && pos_to_target_z > _param_nav_mc_alt_rad.get()
 	    && wp_type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
 		// vehicle above or below the target waypoint
 		pos_control_status.altitude_acceptance = pos_to_target_z + 0.5f;
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
index 327e97ec7b..d76a61f299 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
@@ -109,7 +109,7 @@ private:
 	uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
 
 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::NAV_MC_ALT_RAD>) NAV_MC_ALT_RAD          /**< Acceptance radius for multicopter altitude */
+		(ParamFloat<px4::params::NAV_MC_ALT_RAD>) _param_nav_mc_alt_rad    /**< Acceptance radius for multicopter altitude */
 	);
 
 	vehicle_trajectory_waypoint_s _desired_waypoint = {};  /**< desired vehicle trajectory waypoint to be sent to OA */