diff --git a/src/lib/flight_tasks/FlightTasks.hpp b/src/lib/flight_tasks/FlightTasks.hpp
index 919e7be610..2c40b66fe1 100644
--- a/src/lib/flight_tasks/FlightTasks.hpp
+++ b/src/lib/flight_tasks/FlightTasks.hpp
@@ -150,14 +150,24 @@ public:
 	/**
 	 * Sets an external yaw handler. The active flight task can use the yaw handler to implement a different yaw control strategy.
 	 */
-	void setYawHandler(WeatherVane *ext_yaw_handler) {_current_task.task->setYawHandler(ext_yaw_handler);}
+	void setYawHandler(WeatherVane *ext_yaw_handler)
+	{
+		if (isAnyTaskActive()) {
+			_current_task.task->setYawHandler(ext_yaw_handler);
+		}
+	}
 
 	/**
 	 *   This method will re-activate current task.
 	 */
 	void reActivate();
 
-	void updateVelocityControllerIO(const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp) {_current_task.task->updateVelocityControllerIO(vel_sp, thrust_sp); }
+	void updateVelocityControllerIO(const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp)
+	{
+		if (isAnyTaskActive()) {
+			_current_task.task->updateVelocityControllerIO(vel_sp, thrust_sp);
+		}
+	}
 
 private: