diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
index 1babed001d..5b5453d6f9 100644
--- a/src/modules/flight_mode_manager/FlightModeManager.cpp
+++ b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -441,6 +441,7 @@ void FlightModeManager::handleCommand()
 			command_ack.target_component = command.source_component;
 			command_ack.timestamp = hrt_absolute_time();
 			_vehicle_command_ack_pub.publish(command_ack);
+
 		} else if (_current_task.task) {
 			// check for other commands not related to task switching
 			if (command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED && command.param2 >= 0
diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
index 45f242c632..d2c1ff81b1 100644
--- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
@@ -135,7 +135,7 @@ protected:
 	matrix::Vector3f _target{}; /**< Target waypoint  (local frame).*/
 	matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
 	bool _next_was_valid{false};
-	float _mc_cruise_speed{-1.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
+	float _mc_cruise_speed{NAN}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
 	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
 
 	uORB::SubscriptionData<home_position_s>			_sub_home_position{ORB_ID(home_position)};