diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
index e038605158..04d6666ee3 100644
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
@@ -69,10 +69,16 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 	}
 
 	float new_velocity = signFromBool(new_is_clockwise) * new_absolute_velocity;
-	_started_clockwise = new_is_clockwise;
-	_sanitizeParams(new_radius, new_velocity);
-	_orbit_radius = new_radius;
-	_orbit_velocity = new_velocity;
+
+	if (math::isInRange(new_radius, _radius_min, _radius_max)) {
+		_started_clockwise = new_is_clockwise;
+		_sanitizeParams(new_radius, new_velocity);
+		_orbit_radius = new_radius;
+		_orbit_velocity = new_velocity;
+
+	} else {
+		ret = false;
+	}
 
 	// commanded heading behaviour
 	if (PX4_ISFINITE(command.param3)) {