diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
index 6bb77d0de8..1583c8ec65 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
@@ -327,6 +327,7 @@ public class PIDController implements Sendable, AutoCloseable {
    */
   public double calculate(double measurement, double setpoint) {
     m_setpoint = setpoint;
+    m_haveSetpoint = true;
     return calculate(measurement);
   }
 
diff --git a/wpimath/src/main/native/cpp/controller/PIDController.cpp b/wpimath/src/main/native/cpp/controller/PIDController.cpp
index 99db975257..c2e6eb8d8d 100644
--- a/wpimath/src/main/native/cpp/controller/PIDController.cpp
+++ b/wpimath/src/main/native/cpp/controller/PIDController.cpp
@@ -162,6 +162,7 @@ double PIDController::Calculate(double measurement) {
 
 double PIDController::Calculate(double measurement, double setpoint) {
   m_setpoint = setpoint;
+  m_haveSetpoint = true;
   return Calculate(measurement);
 }