diff --git a/vortex_utils/include/vortex/utils/waypoint_utils.hpp b/vortex_utils/include/vortex/utils/waypoint_utils.hpp
index 3563914..7513c03 100644
--- a/vortex_utils/include/vortex/utils/waypoint_utils.hpp
+++ b/vortex_utils/include/vortex/utils/waypoint_utils.hpp
@@ -29,6 +29,7 @@ struct LandmarkConvergenceGoal {
     WaypointMode mode;
     double convergence_threshold{0.1};
     double dead_reckoning_threshold{0.5};
+    double track_loss_timeout_sec{10.0};
 };
 
 /**
diff --git a/vortex_utils/src/waypoint_utils.cpp b/vortex_utils/src/waypoint_utils.cpp
index 32eea8e..2dcc2be 100644
--- a/vortex_utils/src/waypoint_utils.cpp
+++ b/vortex_utils/src/waypoint_utils.cpp
@@ -215,11 +215,17 @@ LandmarkConvergenceGoal load_landmark_goal_from_yaml(
             entry["dead_reckoning_threshold"].as<double>();
     }
 
+    double track_loss_timeout_sec = 10.0;
+    if (entry["track_loss_timeout_sec"]) {
+        track_loss_timeout_sec = entry["track_loss_timeout_sec"].as<double>();
+    }
+
     return LandmarkConvergenceGoal{
         .convergence_offset = convergence_offset,
         .mode = mode,
         .convergence_threshold = convergence_threshold,
-        .dead_reckoning_threshold = dead_reckoning_threshold};
+        .dead_reckoning_threshold = dead_reckoning_threshold,
+        .track_loss_timeout_sec = track_loss_timeout_sec};
 }
 
 }  // namespace vortex::utils::waypoints