diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
index eb0bb1b950..6e9b24e91b 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
@@ -262,10 +262,12 @@ void FlightTaskAuto::_set_heading_from_mode()
 		if (v.length() > NAV_ACC_RAD.get()) {
 			_compute_heading_from_2D_vector(_yaw_setpoint, v);
 			_yaw_lock = false;
+
 		} else {
 			if (!_yaw_lock) {
 				_yaw_setpoint = _yaw;
 				_yaw_lock = true;
+			}
 		}
 
 	} else {
diff --git a/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.cpp b/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.cpp
index c386259861..68ebd7e3f1 100644
--- a/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.cpp
+++ b/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.cpp
@@ -37,8 +37,10 @@
 #include "FlightTaskManual.hpp"
 #include <mathlib/mathlib.h>
 #include <float.h>
+#include <drivers/drv_hrt.h>
 
 using namespace matrix;
+using namespace time_literals;
 
 bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_array)
 {
@@ -67,8 +69,10 @@ bool FlightTaskManual::updateInitialize()
 
 bool FlightTaskManual::_evaluateSticks()
 {
+	hrt_abstime rc_timeout = (COM_RC_LOSS_T.get() * 1.5f) * 1_s;
+
 	/* Sticks are rescaled linearly and exponentially to [-1,1] */
-	if ((_time_stamp_current - _sub_manual_control_setpoint->get().timestamp) < _timeout) {
+	if ((_time_stamp_current - _sub_manual_control_setpoint->get().timestamp) < rc_timeout) {
 
 		/* Linear scale  */
 		_sticks(0) = _sub_manual_control_setpoint->get().x; /* NED x, "pitch" [-1,1] */
diff --git a/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp b/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp
index d4a08b1c75..fa3df95434 100644
--- a/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp
+++ b/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp
@@ -76,6 +76,7 @@ private:
 					(ParamFloat<px4::params::MPC_Z_MAN_EXPO>)
 					_z_vel_man_expo, /**< ratio of exponential curve for stick input in z direction */
 					(ParamFloat<px4::params::MPC_YAW_EXPO>)
-					_yaw_expo /**< ratio of exponential curve for stick input in yaw for modes except acro */
+					_yaw_expo, /**< ratio of exponential curve for stick input in yaw for modes except acro */
+					(ParamFloat<px4::params::COM_RC_LOSS_T>) COM_RC_LOSS_T /**< time at which commander considers RC lost */
 				       )
 };