diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index d1ada966d6..a7590ba557 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -478,7 +478,9 @@ void MulticopterPositionControl::start_flight_task()
 	}
 
 	// Switch to clean new task when mode switches e.g. to reset state when switching between auto modes
-	if (_last_vehicle_nav_state != _vehicle_status.nav_state) {
+	// exclude Orbit mode since the task is initiated in FlightTasks through the vehicle_command and we should not switch out
+	if (_last_vehicle_nav_state != _vehicle_status.nav_state
+	    && _vehicle_status.nav_state != vehicle_status_s::NAVIGATION_STATE_ORBIT) {
 		_flight_tasks.switchTask(FlightTaskIndex::None);
 	}