diff --git a/src/autopilot/KI/KIAutoInit.cpp b/src/autopilot/KI/KIAutoInit.cpp
index db22715..e7d78ab 100644
--- a/src/autopilot/KI/KIAutoInit.cpp
+++ b/src/autopilot/KI/KIAutoInit.cpp
@@ -104,9 +104,16 @@ bool KIAutoInit::update(const tum_ardrone::filter_stateConstPtr statePtr)
 
 		case STARTED:	// wait 6s to reach hight.
 			if(getMS() - stageStarted > reachHeightMS)
-			{
-				stageStarted = getMS();
-				stage = WAIT_FOR_FIRST;
+			{
+			    // check that the drone is actually flying
+
+			    if (statePtr->droneState >=3 && statePtr->droneState <= 7 ) {
+                    stageStarted = getMS();
+                    stage = WAIT_FOR_FIRST;
+			    } else {
+                    // something went wrong, try again
+                    stage = NONE;
+			    }
 			}
 			node->sendControlToDrone(node->hoverCommand);
 			return false;
diff --git a/src/stateestimation/PTAMWrapper.cpp b/src/stateestimation/PTAMWrapper.cpp
index 30fb118..ed39eee 100644
--- a/src/stateestimation/PTAMWrapper.cpp
+++ b/src/stateestimation/PTAMWrapper.cpp
@@ -1000,7 +1000,11 @@ void PTAMWrapper::on_key_down(int key)
 bool PTAMWrapper::handleCommand(std::string s)
 {
 	if(s.length() == 5 && s.substr(0,5) == "space")
-	{
+	{
+	    if (mpTracker == 0) {
+            ROS_INFO("Haven't received the first video frame yet, can't start the tracker");
+            return true;
+	    }
   		mpTracker->pressSpacebar();
 	}