diff --git a/CHANGELOG.md b/CHANGELOG.md
index aa74c8e0e..7ccb0268e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -41,6 +41,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 - GAP: allow to disable link supervision timeout
 - HFP HF: only emit single event for RING and AG Status updates
 - HFP AG: fix audio connection setup for in-band ringtone on incoming connection
+- HFP: fix audio connection setup by HF if codec negotiation is supported
 
 ### Changed
 - HCI: config I2S for BCM Controllers if `ENABLE_SCO_OVER_PCM`, reduce bit clock to 256/512 kHz
@@ -67,7 +68,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
   events instead of callback, and `RFCOMM_DATA_PACKET` for received data
 - HSP AG: emit HSP_SUBEVENT_BUTTON_PRESSED instead of audio connection setup/release
 - Examples: use `btstack_event.h` getters instead of direct array access, use enum to compare status codes
-- HFP: provide acl_handle in  events to identify connection
+- HFP: provide acl_handle in events to identify connection
 - HCI Transport: extract convenience function declaration for h4, h5, em9304_spi, and usb into separate hci_transport_{type}.h
 - GATT Client: Use ATT_READ_REQUEST for first blob of Read Long Characteristic and Read Long Characteristic Descriptor
 - HID: Move `src/classic/hid.h` into `src` and prefix with `btstack_` to use it with BLE and avoid name clashes
diff --git a/src/classic/hfp_ag.c b/src/classic/hfp_ag.c
index 3c83ea395..528294cc5 100644
--- a/src/classic/hfp_ag.c
+++ b/src/classic/hfp_ag.c
@@ -553,6 +553,7 @@ static int codecs_exchange_state_machine(hfp_connection_t * hfp_connection){
         
         case HFP_CMD_TRIGGER_CODEC_CONNECTION_SETUP:
             hfp_connection->codecs_state = HFP_CODECS_RECEIVED_TRIGGER_CODEC_EXCHANGE;
+            hfp_connection->establish_audio_connection = 1;
             hfp_ag_send_ok(hfp_connection->rfcomm_cid);
             return 1;
         
diff --git a/src/classic/hfp_hf.c b/src/classic/hfp_hf.c
index c2d8f0e58..699d279f6 100644
--- a/src/classic/hfp_hf.c
+++ b/src/classic/hfp_hf.c
@@ -1335,7 +1335,6 @@ void hfp_hf_establish_audio_connection(hci_con_handle_t acl_handle){
     if (hfp_connection->state >= HFP_W2_DISCONNECT_SCO) return;
 
     hfp_connection->trigger_codec_exchange = 0;
-    hfp_connection->establish_audio_connection = 1;
     if (!has_codec_negotiation_feature(hfp_connection)){
         log_info("no codec negotiation feature, using NBS");
         hfp_connection->codecs_state = HFP_CODECS_EXCHANGED;
@@ -1343,6 +1342,7 @@ void hfp_hf_establish_audio_connection(hci_con_handle_t acl_handle){
         hfp_connection->codec_confirmed = hfp_connection->suggested_codec;
         hfp_connection->negotiated_codec = hfp_connection->suggested_codec;
         hfp_init_link_settings(hfp_connection, hfp_hf_esco_s4_supported(hfp_connection));
+        hfp_connection->establish_audio_connection = 1;
         hfp_connection->state = HFP_W4_SCO_CONNECTED;
     } else {
         switch (hfp_connection->codecs_state){