diff --git a/src/control_manager/control_manager.cpp b/src/control_manager/control_manager.cpp
index 88e4b36..873772e 100644
--- a/src/control_manager/control_manager.cpp
+++ b/src/control_manager/control_manager.cpp
@@ -3285,7 +3285,7 @@ void ControlManager::timerBumper(const ros::TimerEvent& event) {
     return;
   }
 
-  if (!isFlyingNormally() && !bumper_repulsing_) {
+  if (!isFlyingNormally() && !rc_goto_active_ && !bumper_repulsing_) {
     return;
   }