diff --git a/msg/vehicle_constraints.msg b/msg/vehicle_constraints.msg
index 5c598a4659..fabfce997e 100644
--- a/msg/vehicle_constraints.msg
+++ b/msg/vehicle_constraints.msg
@@ -13,3 +13,5 @@ float32 max_distance_to_ground # in meters
 bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)
 bool reset_integral # tells controller to reset integrators e.g. since we know the vehicle is not in air
 float32 minimum_thrust # tell controller what the minimum collective output thrust should be
+
+uint32 flight_task
diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
index 66be8ac5f1..9999daee46 100644
--- a/src/modules/flight_mode_manager/FlightModeManager.cpp
+++ b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -485,6 +485,7 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
 				    _time_stamp_last_loop);
 	constraints.speed_up = _takeoff.updateRamp(dt, constraints.speed_up);
 
+	constraints.flight_task = _flight_tasks.getActiveTask();
 	_vehicle_constraints_pub.publish(constraints);
 
 	if (not_taken_off) {