diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
index 6354ac8d01..f6d98b3038 100644
--- a/src/modules/flight_mode_manager/FlightModeManager.cpp
+++ b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -456,7 +456,7 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
 	vehicle_local_position_setpoint_s setpoint = FlightTask::empty_setpoint;
 	vehicle_constraints_s constraints = FlightTask::empty_constraints;
 
-	if (_current_task.task->updateInitialize() && _current_task.task->update() && _current_task.task->updateFinalize()) {
+	if (_current_task.task->updateInitialize() && _current_task.task->update()) {
 		// setpoints and constraints for the position controller from flighttask
 		setpoint = _current_task.task->getPositionSetpoint();
 		constraints = _current_task.task->getConstraints();
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
index b75d176bdf..39198013b2 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
@@ -214,17 +214,13 @@ bool FlightTaskAuto::update()
 	// update previous type
 	_type_previous = _type;
 
-	return ret;
-}
-
-bool FlightTaskAuto::updateFinalize()
-{
-	// All the auto FlightTasks have to comply with defined maximum yaw rate
 	// If the FlightTask generates a yaw or a yawrate setpoint that exceeds this value
 	// it will see its setpoint constrained here
 	_limitYawRate();
+
 	_constraints.want_takeoff = _checkTakeoff();
-	return true;
+
+	return ret;
 }
 
 void FlightTaskAuto::_prepareLandSetpoints()
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
index 016c39cf78..2ccb94de4d 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
@@ -91,7 +91,6 @@ public:
 	void reActivate() override;
 	bool updateInitialize() override;
 	bool update() override;
-	bool updateFinalize() override;
 
 	/**
 	 * Sets an external yaw handler which can be used to implement a different yaw control strategy.
diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
index b5e0b3b9e7..01d9ba3525 100644
--- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
+++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
@@ -108,14 +108,6 @@ public:
 	 */
 	virtual bool update();
 
-	/**
-	 * Call after update()
-	 * to constrain the generated setpoints in order to comply
-	 * with the constraints of the current mode
-	 * @return true on success, false on error
-	 */
-	virtual bool updateFinalize() { return true; };
-
 	/**
 	 * Get the output data
 	 * @return task output setpoints that get executed by the positon controller