diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index 50ac73deca..e19e3f2adb 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -155,7 +155,7 @@ FixedwingAttitudeControl::vehicle_manual_poll()
 					_att_sp.pitch_body = constrain(_att_sp.pitch_body,
 								       -radians(_param_fw_man_p_max.get()), radians(_param_fw_man_p_max.get()));
 
-					_att_sp.yaw_body = 0.0f;
+					_att_sp.yaw_body = NAN;
 					_att_sp.thrust_body[0] = math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f);
 
 					Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index d2e6835e47..d540e89215 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -693,7 +693,7 @@ FixedwingPositionControl::set_control_mode_current(bool pos_sp_curr_valid)
 			/* reset setpoints from other modes (auto) otherwise we won't
 			 * level out without new manual input */
 			_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
-			_att_sp.yaw_body = 0;
+			_att_sp.yaw_body = NAN;
 		}
 
 		_control_mode_current = FW_POSCTRL_MODE_POSITION;
@@ -1678,7 +1678,7 @@ FixedwingPositionControl::control_altitude(const hrt_abstime &now, const Vector2
 				   _manual_height_rate_setpoint_m_s);
 
 	_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
-	_att_sp.yaw_body = 0;
+	_att_sp.yaw_body = NAN;
 
 	/* Copy thrust and pitch values from tecs */
 	if (_landed) {
@@ -1797,7 +1797,7 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
 		}
 
 		_att_sp.roll_body = roll_sp_new;
-		_att_sp.yaw_body = 0;
+		_att_sp.yaw_body = NAN;
 	}
 
 	/* Copy thrust and pitch values from tecs */