diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
index d443e51cbf..3d46a92090 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
@@ -52,7 +52,8 @@ FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent,
 
 bool FlightTaskManualAltitude::activate()
 {
-	_pos_sp_z = _position(2);
+	_pos_sp_z = NAN;
+	_vel_sp_z = 0.0f;
 	return FlightTaskManualStabilized::activate();
 }
 
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
index 5272f72905..97592881f1 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
@@ -51,7 +51,7 @@ FlightTaskManualPosition::FlightTaskManualPosition(control::SuperBlock *parent,
 
 bool FlightTaskManualPosition::activate()
 {
-	_pos_sp_xy = matrix::Vector2f(&_position(0));
+	_pos_sp_xy = matrix::Vector2f(NAN, NAN);
 	_vel_sp_xy = matrix::Vector2f(0.0f, 0.0f);
 	return FlightTaskManualAltitude::activate();
 }
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
index 8f0f8912f2..91d29d02b5 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
@@ -53,8 +53,9 @@ FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *pare
 
 bool FlightTaskManualStabilized::activate()
 {
-	_yaw_sp = _yaw;
+	_yaw_sp = NAN;
 	_yaw_rate_sp = 0.0f;
+	_thr_sp = matrix::Vector3f(0.0f, 0.0f, -_throttle_hover.get());
 	return FlightTaskManual::activate();
 }