diff --git a/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
index 56f23989a1..7b3f026d1a 100644
--- a/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
+++ b/src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
@@ -117,10 +117,10 @@ void FlightTaskAuto::_limitYawRate()
 	}
 
 	if (PX4_ISFINITE(_yawspeed_setpoint)) {
-		_yawspeed_setpoint = math::constrain(_yawspeed_setpoint, -yawrate_max, yawrate_max);
-
 		// The yaw setpoint is aligned when its rate is not saturated
 		_yaw_sp_aligned = _yaw_sp_aligned && (fabsf(_yawspeed_setpoint) < yawrate_max);
+
+		_yawspeed_setpoint = math::constrain(_yawspeed_setpoint, -yawrate_max, yawrate_max);
 	}
 }