diff --git a/libraries/AP_Mission/AP_Mission_Commands.cpp b/libraries/AP_Mission/AP_Mission_Commands.cpp
index bc03742320..ab69c46824 100644
--- a/libraries/AP_Mission/AP_Mission_Commands.cpp
+++ b/libraries/AP_Mission/AP_Mission_Commands.cpp
@@ -330,8 +330,8 @@ bool AP_Mission::start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Miss
     }
 
     // handle angle target
-    const bool pitch_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) && (fabsF(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) <= 90);
-    const bool yaw_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) && (fabsF(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) <= 360);
+    const bool pitch_angle_valid = abs(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) <= 90;
+    const bool yaw_angle_valid = abs(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) <= 360;
     if (pitch_angle_valid && yaw_angle_valid) {
         mount->set_angle_target(gimbal_instance, 0, cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg, cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg, cmd.content.gimbal_manager_pitchyaw.flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
         return true;