diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index a7c74fab347ce4280a45c6d120581f7b33a84e8e..55a2c2ee7dca82511e348d02f2ec36e8c37ac7f1 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -979,6 +979,10 @@ void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float t
         return;
     }
 
+    if (!_vehicle->priorityLink()) {
+        return;
+    }
+
     // Store the previous manual commands
     static float manualRollAngle = 0.0;
     static float manualPitchAngle = 0.0;