FlightTaskManualStabilized: valid yaw is required

src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp

@@ -62,13 +62,16 @@ bool FlightTaskManualStabilized::activate()
 	_yaw_setpoint = _yaw;
 	_yawspeed_setpoint = 0.0f;
 	_constraints.tilt = math::radians(_tilt_max_man.get());
-
-	// need a valid yaw
-	ret = ret && PX4_ISFINITE(_yaw);
-
 	return ret;
 }
 
+bool FlightTaskManualStabilized::updateInitialize()
+{
+	bool ret = FlightTaskManual::updateInitialize();
+	// need a valid yaw-state
+	return ret && PX4_ISFINITE(_yaw);
+}
+
 void FlightTaskManualStabilized::_scaleSticks()
 {
 	/* Scale sticks to yaw and thrust using

src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp

@@ -50,6 +50,7 @@ public:
 
 	virtual ~FlightTaskManualStabilized() = default;
 	bool activate() override;
+	bool updateInitialize() override;
 	bool update() override;
 	bool initializeSubscriptions(SubscriptionArray &subscription_array) override;