diff --git a/src/lib/FlightTasks/tasks/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask.cpp
index ec6fc700c0..9d758890d7 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.cpp
@@ -5,9 +5,10 @@ constexpr uint64_t FlightTask::_timeout;
 
 int FlightTask::update()
 {
-	_time = hrt_elapsed_time(&_starting_time_stamp) / 1e6f;
-	_deltatime  = math::min(hrt_elapsed_time(&_last_time_stamp), _timeout) / 1e6f;
-	_last_time_stamp = hrt_absolute_time();
+	_time_stamp_current = hrt_absolute_time();
+	_time = (_time_stamp_current - _time_stamp_activate) / 1e6f;
+	_deltatime  = math::min((_time_stamp_current - _time_stamp_last), _timeout) / 1e6f;
+	_time_stamp_last = _time_stamp_current;
 	updateSubscriptions();
 	_evaluate_vehicle_position();
 	return 0;
@@ -15,7 +16,7 @@ int FlightTask::update()
 
 void FlightTask::_evaluate_vehicle_position()
 {
-	if (hrt_elapsed_time(&_sub_vehicle_local_position.get().timestamp) < _timeout) {
+	if ((_time_stamp_current - _sub_vehicle_local_position.get().timestamp) < _timeout) {
 		_position = matrix::Vector3f(&_sub_vehicle_local_position.get().x);
 		_velocity = matrix::Vector3f(&_sub_vehicle_local_position.get().vx);
 		_yaw = _sub_vehicle_local_position.get().yaw;
diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp
index 1cf3b218a5..1aca5aac2e 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.hpp
@@ -63,7 +63,7 @@ public:
 	 */
 	virtual int activate()
 	{
-		_starting_time_stamp = hrt_absolute_time();
+		_time_stamp_activate = hrt_absolute_time();
 		FlightTask::update();
 		return 0;
 	};
@@ -89,10 +89,13 @@ public:
 	};
 
 protected:
+	/* time abstraction */
 	static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */
-
 	float _time = 0; /**< passed time in seconds since the task was activated */
 	float _deltatime = 0; /**< passed time in seconds since the task was last updated */
+	hrt_abstime _time_stamp_activate = 0; /**< time stamp when task was activated */
+	hrt_abstime _time_stamp_current = 0; /**< time stamp at the beginning of the current task update */
+	hrt_abstime _time_stamp_last = 0; /**< time stamp when task was last updated */
 
 	/* Current vehicle position for every task */
 	matrix::Vector3f _position; /**< current vehicle position */
@@ -117,9 +120,6 @@ protected:
 private:
 	uORB::Subscription<vehicle_local_position_s> _sub_vehicle_local_position;
 
-	hrt_abstime _starting_time_stamp = 0; /**< time stamp when task was activated */
-	hrt_abstime _last_time_stamp = 0; /**< time stamp when task was last updated */
-
 	vehicle_local_position_setpoint_s _vehicle_local_position_setpoint; /**< Output position setpoint that every task has */
 
 	void _evaluate_vehicle_position();
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
index 8e77d88759..267aa39eb2 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp
@@ -120,7 +120,7 @@ int FlightTaskManual::update()
 
 int FlightTaskManual::_evaluate_sticks()
 {
-	if (hrt_elapsed_time(&_sub_manual_control_setpoint.get().timestamp) < _timeout) {
+	if ((_time_stamp_current - _sub_manual_control_setpoint.get().timestamp) < _timeout) {
 		/* get data and scale correctly */
 		_sticks(0) = _sub_manual_control_setpoint.get().x; /* NED x, "pitch" [-1,1] */
 		_sticks(1) = _sub_manual_control_setpoint.get().y; /* NED y, "roll" [-1,1] */