diff --git a/src/relay_chn_tilt.c b/src/relay_chn_tilt.c
index 9162258..4fab83c 100644
--- a/src/relay_chn_tilt.c
+++ b/src/relay_chn_tilt.c
@@ -140,11 +140,11 @@ static void relay_chn_tilt_issue_cmd(relay_chn_tilt_ctl_t *tilt_ctl, relay_chn_t
 {
     // TILT_STOP is safe and high priority
     if (cmd == RELAY_CHN_TILT_CMD_STOP) {
-        if (tilt_ctl->chn_ctl->state == RELAY_CHN_STATE_STOPPED) {
-            return; // Do nothing if already stopped
+        relay_chn_state_t state = tilt_ctl->chn_ctl->state;
+        if (state == RELAY_CHN_STATE_TILT_FORWARD || state == RELAY_CHN_STATE_TILT_REVERSE) {
+            // If the command is TILT_STOP, issue it immediately
+            relay_chn_tilt_dispatch_cmd(tilt_ctl, cmd);
         }
-        // If the command is TILT_STOP, issue it immediately
-        relay_chn_tilt_dispatch_cmd(tilt_ctl, cmd);
         return;
     }
 
@@ -320,7 +320,7 @@ void relay_chn_tilt_reverse()
 
 void relay_chn_tilt_stop()
 {
-    relay_chn_tilt_dispatch_cmd(&s_tilt_ctl, RELAY_CHN_TILT_CMD_STOP);
+    relay_chn_tilt_issue_cmd(&s_tilt_ctl, RELAY_CHN_TILT_CMD_STOP);
 }
 #endif // CONFIG_RELAY_CHN_COUNT > 1