diff --git a/src/Vehicle/VehicleObjectAvoidance.cc b/src/Vehicle/VehicleObjectAvoidance.cc
index dde9998523134c6e1307a1f93120093d13107b7a..d6b9151e9ade14bb798de52bc7f136c596e4d0dd 100644
--- a/src/Vehicle/VehicleObjectAvoidance.cc
+++ b/src/Vehicle/VehicleObjectAvoidance.cc
@@ -46,7 +46,7 @@ VehicleObjectAvoidance::update(mavlink_obstacle_distance_t* message)
     //-- Create a plottable grid with found objects
     _objGrid.clear();
     _objDistance.clear();
-    VehicleSetpointFactGroup* sp = dynamic_cast<VehicleSetpointFactGroup*>(_vehicle->setpointFactGroup());
+    auto* sp = qobject_cast<VehicleSetpointFactGroup*>(_vehicle->setpointFactGroup());
     qreal startAngle = sp->yaw()->rawValue().toDouble() + _angleOffset;
     for(int i = 0; i < MAVLINK_MSG_OBSTACLE_DISTANCE_FIELD_DISTANCES_LEN; i++) {
         if(_distances[i] < _maxDistance && message->distances[i] != UINT16_MAX) {