diff --git a/src/driveModi/Modi/Autopilot/autopilot.cpp b/src/driveModi/Modi/Autopilot/autopilot.cpp
index 7fbbc25..8122237 100644
--- a/src/driveModi/Modi/Autopilot/autopilot.cpp
+++ b/src/driveModi/Modi/Autopilot/autopilot.cpp
@@ -57,16 +57,18 @@ void Autopilot::runAutopilot() {
     if (this->routeInfo.currentPoint >= 2 && this->state == State::GetToStartPoint)
         this->state = State::SelfDrivingAvailable;
 
-    if (this->state == State::SelfDrivingAvailable 
-        && ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action)) {
-        this->state = State::SelfDriving;
-        this->updateDisplay = true;
-    }
-
-    if (this->state == State::SelfDriving
-        && ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action)) {
+    if (ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action)
+        && millis() - this->lastAutopilotChangeMillis > this->autopilotChangeDelayMillis) {
+        
+        if (this->state  == State::SelfDrivingAvailable) {
+            this->state = State::SelfDriving;
+            this->updateDisplay = true;
+            this->lastAutopilotChangeMillis = millis();
+        } else if (this->state == State::SelfDriving) {
             this->state = State::SelfDrivingAvailable;
             this->updateDisplay = true;
+            this->lastAutopilotChangeMillis = millis();
+        }
     }
 
     if (this->state == State::SelfDriving) {
diff --git a/src/driveModi/Modi/Autopilot/autopilot.h b/src/driveModi/Modi/Autopilot/autopilot.h
index 2af0554..e9e4577 100644
--- a/src/driveModi/Modi/Autopilot/autopilot.h
+++ b/src/driveModi/Modi/Autopilot/autopilot.h
@@ -126,9 +126,11 @@ class Autopilot : public ManualControl {
         uint8_t ntripReconnectMaxAttemps = 10;
         uint16_t displayUpdateDelayMillis = 1000;
         uint16_t reconnectNtripDelayMillis = 1000;
+        uint16_t autopilotChangeDelayMillis = 500;
         uint32_t displayUpdateLastMillis = 0;
         uint32_t loopLastMillis = 0;
         uint32_t reconnectNtripLastMillis = 0;
+        uint32_t lastAutopilotChangeMillis = 0;
 };
 
 #endif // AUTOPILOT_H