diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
index c67c9f32b5..33dce897b7 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManual.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -63,6 +63,15 @@ protected:
 	matrix::Vector3f _sticks_expo; /**< modified manual sticks using expo function*/
 	control::BlockParamFloat _stick_dz; /**< 0-deadzone around the center for the sticks */
 
+	/* Setpoints: NAN means that setpoint is not being considered. */
+	matrix::Vector3f _thr_sp{NAN, NAN, NAN}; /**< thrust setpoint */
+	matrix::Vector3f _vel_sp{NAN, NAN, NAN}; /**< velocity setpoint */
+	matrix::Vector3f _pos_sp{NAN, NAN, NAN}; /**< position setpoint */
+	float _yaw_sp{NAN};						 /**< yaw setpoint */
+	float _yaw_rate_sp{NAN};				 /**< yawspeed setpoint */
+
+	void _resetToNAN();
+
 private:
 
 	uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
@@ -70,6 +79,5 @@ private:
 	control::BlockParamFloat _xy_vel_man_expo; /**< ratio of exponential curve for stick input in xy direction */
 	control::BlockParamFloat _z_vel_man_expo; /**< ratio of exponential curve for stick input in z direction */
 
-
 	bool _evaluateSticks(); /**< checks and sets stick inputs */
 };