diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 9942152352..0dcd57e2a1 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -301,6 +301,7 @@ private:
 	 * check if task should be switched because of failsafe
 	 */
 	void check_failure(bool task_failure, uint8_t nav_state);
+
 	/**
 	 * send vehicle command to inform commander about failsafe
 	 */
@@ -996,6 +997,10 @@ MulticopterPositionControl::start_flight_task()
 		}
 	}
 
+	if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ORBIT) {
+		should_disable_task = false;
+	}
+
 	// check task failure
 	if (task_failure) {