diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
index 71ad256c2c..a4617d0e1e 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
@@ -197,7 +197,11 @@ void
 ManualSmoothingXY::_velocitySlewRate(matrix::Vector2f &vel_sp, const float dt)
 {
 	// Adjust velocity setpoint if demand exceeds acceleration. /
-	matrix::Vector2f acc = (vel_sp - _vel_sp_prev) / dt;
+	matrix::Vector2f acc{};
+
+	if (dt > FLT_EPSILON) {
+		acc = (vel_sp - _vel_sp_prev) / dt;
+	}
 
 	if (acc.length() > _acc_state_dependent) {
 		vel_sp = acc.normalized() * _acc_state_dependent  * dt + _vel_sp_prev;
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp
index 6c30f6794d..9b11fc3132 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp
@@ -146,7 +146,12 @@ void
 ManualSmoothingZ::velocitySlewRate(float &vel_sp, const float dt)
 {
 	// limit vertical acceleration
-	float acc = (vel_sp - _vel_sp_prev) / dt;
+	float acc = 0.f;
+
+	if (dt > FLT_EPSILON) {
+		acc = (vel_sp - _vel_sp_prev) / dt;
+	}
+
 	float max_acc = (acc < 0.0f) ? -_acc_state_dependent : _acc_state_dependent;
 
 	if (fabsf(acc) > fabsf(max_acc)) {