diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
index 2147470c02..ab7f87fa63 100644
--- a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
@@ -176,23 +176,18 @@ void StraightLine::setAllDefaults()
 	_desired_deceleration = DECELERATION_MAX;
 }
 
-void StraightLine::setTarget(const matrix::Vector3f &target)
+void StraightLine::setLineFromTo(const matrix::Vector3f &origin, const matrix::Vector3f &target)
 {
-	if (PX4_ISFINITE(target(0)) && PX4_ISFINITE(target(1)) && PX4_ISFINITE(target(2))) {
+	if (PX4_ISFINITE(target(0)) && PX4_ISFINITE(target(1)) && PX4_ISFINITE(target(2)) &&
+	    PX4_ISFINITE(origin(0)) && PX4_ISFINITE(origin(1)) && PX4_ISFINITE(origin(2))) {
 		_target = target;
+		_origin = origin;
 
 		// set all parameters to their default value (depends on the direction)
 		setAllDefaults();
 	}
 }
 
-void StraightLine::setOrigin(const matrix::Vector3f &origin)
-{
-	if (PX4_ISFINITE(origin(0)) && PX4_ISFINITE(origin(1)) && PX4_ISFINITE(origin(2))) {
-		_origin = origin;
-	}
-}
-
 void StraightLine::setSpeed(const float &speed)
 {
 	float vel_max = getMaxVel();
diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp b/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
index bd564943d3..1347b2d456 100644
--- a/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
@@ -51,8 +51,7 @@ public:
 	~StraightLine() = default;
 
 	// setter functions
-	void setTarget(const matrix::Vector3f &target);
-	void setOrigin(const matrix::Vector3f &origin);
+	void setLineFromTo(const matrix::Vector3f &origin, const matrix::Vector3f &target);
 	void setSpeed(const float &speed);
 	void setSpeedAtTarget(const float &speed_at_target);
 	void setAcceleration(const float &acc);