diff --git a/firmware/tinyg/plan_zoid.c b/firmware/tinyg/plan_zoid.c
index c0851f78a..55b5f54fa 100755
--- a/firmware/tinyg/plan_zoid.c
+++ b/firmware/tinyg/plan_zoid.c
@@ -289,10 +289,10 @@ void mp_calculate_trapezoid(mpBuf_t *bf)
 		}
 		bf->body_length = 0;
 
-	// If the body is a standalone make the cruise velocity match the entry velocity
+	// If the body is a standalone make the cruise velocity match the entry velocity as long as it's not zero
 	// This removes a potential velocity discontinuity at the expense of top speed
-	} else if ((fp_ZERO(bf->head_length)) && (fp_ZERO(bf->tail_length))) {
-		bf->cruise_velocity = bf->entry_velocity;
+	} else if ((fp_ZERO(bf->head_length)) && (fp_ZERO(bf->tail_length)) && fp_NOT_ZERO(bf->entry_velocity)) {
+		bf->cruise_velocity = bf->entry_velocity;
 	}
 }