diff --git a/src/lib/FlightTasks/tasks/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask.cpp
index b45513b33d..4c41726dc6 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.cpp
@@ -93,13 +93,16 @@ bool FlightTask::_evaluateVehicleLocalPosition()
 		// yaw
 		_yaw = _sub_vehicle_local_position->get().yaw;
 
-		// distance to bottome
+		// distance to bottom
 		_dist_to_bottom = NAN;
 
 		if (_sub_vehicle_local_position->get().dist_bottom_valid) {
 			_dist_to_bottom =  _sub_vehicle_local_position->get().dist_bottom;
 		}
 
+		// estimator specified vehicle limits
+		
+
 		// We don't check here if states are valid or not.
 		// Validity checks are done in the sub-classes.
 		return true;
diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp
index f1e6545ba6..9992d50a2e 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.hpp
@@ -155,7 +155,8 @@ protected:
 	/* Current vehicle state */
 	matrix::Vector3f _position; /**< current vehicle position */
 	matrix::Vector3f _velocity; /**< current vehicle velocity */
-	float _yaw = 0.f;
+	float _yaw = 0.f; /**< current vehicle yaw heading */
+	float _dist_to_bottom; /**< current height above ground level */
 
 	/**
 	 * Setpoints which the position controller has to execute.
@@ -171,7 +172,6 @@ protected:
 	matrix::Vector3f _thrust_setpoint;
 	float _yaw_setpoint;
 	float _yawspeed_setpoint;
-	float _dist_to_bottom;
 
 	/**
 	 * Vehicle constraints.
diff --git a/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp b/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
index 984fa0752a..d0d19c80e8 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
@@ -360,7 +360,7 @@ void FlightTaskAutoLine::_generateXYsetpoints()
 			float yaw_diff = 0.0f;
 
 			if (PX4_ISFINITE(_yaw_setpoint)) {
-				yaw_diff = _wrap_pi(_yaw_setpoint - _yaw);
+				yaw_diff = wrap_pi(_yaw_setpoint - _yaw);
 			}
 
 			// If yaw offset is large, only accelerate with 0.5 m/s^2.
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.hpp
index ba22d08cef..a9dac031f7 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualAltitudeSmooth.hpp
@@ -37,6 +37,7 @@
  * Flight task for manual controlled altitude.
  */
 
+#pragma once
 
 #include "FlightTaskManualAltitude.hpp"
 #include "Utility/ManualSmoothingZ.hpp"
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
index 9dd2569cbf..c81c3c7208 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
@@ -99,7 +99,7 @@ void FlightTaskManualPosition::_scaleSticks()
 		// raise the limit at a constant rate up to the user specified value
 
 		if (_velocity_scale < _constraints.speed_xy) {
-			_velocity_scale += _deltatime * MPC_ACC_HOR_FLOW.get();
+			_velocity_scale += _deltatime * MPC_ACC_HOR_ESTM.get();
 
 		} else {
 			_velocity_scale = _constraints.speed_xy;
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
index 8ebaa33681..11cfca4bf9 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPosition.hpp
@@ -60,7 +60,7 @@ protected:
 					(ParamFloat<px4::params::MPC_VEL_MANUAL>) MPC_VEL_MANUAL,
 					(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) MPC_ACC_HOR_MAX,
 					(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) MPC_HOLD_MAX_XY,
-					(ParamFloat<px4::params::MPC_ACC_HOR_FLOW>) MPC_ACC_HOR_FLOW
+					(ParamFloat<px4::params::MPC_ACC_HOR_ESTM>) MPC_ACC_HOR_ESTM
 				       )
 private:
 	float _velocity_scale; //scales the stick input to velocity
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.hpp
index a57c352d9f..c653a1fdf5 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.hpp
@@ -37,6 +37,7 @@
  * Flight task for smooth manual controlled position.
  */
 
+#pragma once
 
 #include "FlightTaskManualPosition.hpp"
 #include "Utility/ManualSmoothingXY.hpp"