diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
index 3d70726073..c8d4fb49b9 100644
--- a/src/modules/flight_mode_manager/FlightModeManager.cpp
+++ b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -117,6 +117,12 @@ void FlightModeManager::Run()
 
 		if (isAnyTaskActive()) {
 			generateTrajectorySetpoint(dt, vehicle_local_position);
+
+		} else {
+			// Publish empty constraints (constraints from previous flight tasks must be overridden)
+			vehicle_constraints_s vehicle_constraints = FlightTask::empty_constraints;
+			vehicle_constraints.timestamp = time_stamp_now;
+			_vehicle_constraints_pub.publish(vehicle_constraints);
 		}
 
 	}
diff --git a/src/modules/mc_pos_control/GotoControl/GotoControl.cpp b/src/modules/mc_pos_control/GotoControl/GotoControl.cpp
index 2453997dcb..18093cc34c 100644
--- a/src/modules/mc_pos_control/GotoControl/GotoControl.cpp
+++ b/src/modules/mc_pos_control/GotoControl/GotoControl.cpp
@@ -123,14 +123,6 @@ void GotoControl::update(const float dt, const matrix::Vector3f &position, const
 
 	trajectory_setpoint.timestamp = goto_setpoint.timestamp;
 	_trajectory_setpoint_pub.publish(trajectory_setpoint);
-
-	vehicle_constraints_s vehicle_constraints{
-		.timestamp = goto_setpoint.timestamp,
-		.speed_up = NAN,
-		.speed_down = NAN,
-		.want_takeoff = false
-	};
-	_vehicle_constraints_pub.publish(vehicle_constraints);
 }
 
 void GotoControl::resetPositionSmoother(const matrix::Vector3f &position)
diff --git a/src/modules/mc_pos_control/GotoControl/GotoControl.hpp b/src/modules/mc_pos_control/GotoControl/GotoControl.hpp
index 63158ee979..4aa120488e 100644
--- a/src/modules/mc_pos_control/GotoControl/GotoControl.hpp
+++ b/src/modules/mc_pos_control/GotoControl/GotoControl.hpp
@@ -51,7 +51,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/goto_setpoint.h>
 #include <uORB/topics/trajectory_setpoint.h>
-#include <uORB/topics/vehicle_constraints.h>
 
 class GotoControl
 {
@@ -117,7 +116,6 @@ private:
 
 	uORB::SubscriptionData<goto_setpoint_s> _goto_setpoint_sub{ORB_ID(goto_setpoint)};
 	uORB::Publication<trajectory_setpoint_s> _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)};
-	uORB::Publication<vehicle_constraints_s> _vehicle_constraints_pub{ORB_ID(vehicle_constraints)};
 
 	PositionSmoothing _position_smoothing;
 	HeadingSmoothing _heading_smoothing;