diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
index d68c26571a..0af1e4c679 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
@@ -104,6 +104,8 @@ protected:
 	float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
 	int _mission_gear = landing_gear_s::GEAR_KEEP;
 
+	float _yaw_sp_prev = NAN;
+
 	ObstacleAvoidance _obstacle_avoidance; /**< class adjusting setpoints according to external avoidance module's input */
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
@@ -119,7 +121,6 @@ protected:
 private:
 	matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
 	bool _yaw_lock = false; /**< if within acceptance radius, lock yaw to current yaw */
-	float _yaw_sp_prev = NAN;
 	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
 	uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr};
 
diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
index 4d5beb7dca..e3b6c2ed6f 100644
--- a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
@@ -82,8 +82,6 @@ void FlightTaskAutoLineSmoothVel::_generateHeading()
 	if (!_generateHeadingAlongTraj()) {
 		_yaw_setpoint = _yaw_sp_prev;
 	}
-
-	_yaw_sp_prev = _yaw_setpoint;
 }
 
 bool FlightTaskAutoLineSmoothVel::_generateHeadingAlongTraj()
diff --git a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
index 98c8517146..d9d3eb5f0f 100644
--- a/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
+++ b/src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
@@ -79,7 +79,6 @@ protected:
 	void _generateTrajectory();
 	VelocitySmoothing _trajectory[3]; ///< Trajectories in x, y and z directions
 
-	float _yaw_sp_prev{NAN};
 	bool _want_takeoff{false};
 
 	/* counters for estimator local position resets */