diff --git a/src/lib/FlightTasks/FlightTasks.hpp b/src/lib/FlightTasks/FlightTasks.hpp
index fe5e06404a..2f4be76355 100644
--- a/src/lib/FlightTasks/FlightTasks.hpp
+++ b/src/lib/FlightTasks/FlightTasks.hpp
@@ -57,6 +57,15 @@ public:
 	 */
 	int update() { return Orbit.update(); };
 
+	void set_input_pointers(vehicle_local_position_s *vehicle_local_position,
+				manual_control_setpoint_s *manual_control_setpoint)
+	{
+		for (int i = 0; i < _task_count; i++) {
+			_tasks[i]->set_vehicle_local_position_pointer(vehicle_local_position);
+			_tasks[i]->set_manual_control_setpoint_pointer(manual_control_setpoint);
+		}
+	};
+
 	/**
 	 * Call to get result of the task execution
 	 * @return pointer to
@@ -64,7 +73,9 @@ public:
 	const vehicle_local_position_setpoint_s *get_position_setpoint() const { return Orbit.get_position_setpoint(); };
 
 private:
+	static const int _task_count = 1;
 
 	FlightTaskOrbit Orbit;
+	FlightTask *_tasks[_task_count] = {&Orbit};
 
 };
diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp
index c22dba873b..47d8454faf 100644
--- a/src/lib/FlightTasks/tasks/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask.hpp
@@ -41,9 +41,6 @@
 
 #pragma once
 
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/vehicle_local_position_setpoint.h>
-
 class FlightTask
 {
 public:
@@ -82,12 +79,6 @@ public:
 		return 0;
 	};
 
-	/**
-	 * Get the resulting setpoints of the task execution via pointer
-	 * @return pointer to setpoint struct
-	 */
-	const vehicle_local_position_setpoint_s *get_position_setpoint() const { return &_vehicle_position_setpoint; };
-
 	/**
 	 * Set vehicle local position data pointer
 	 * @param pointer to vehicle local position
@@ -100,6 +91,12 @@ public:
 	 */
 	void set_manual_control_setpoint_pointer(const manual_control_setpoint_s *manual_control_setpoint) { _manual_control_setpoint = manual_control_setpoint; };
 
+	/**
+	 * Get the resulting setpoints of the task execution via pointer
+	 * @return pointer to setpoint struct
+	 */
+	const vehicle_local_position_setpoint_s *get_position_setpoint() const { return &_vehicle_position_setpoint; };
+
 protected:
 
 	float _get_time() { return _time; }