diff --git a/src/relay_chn_tilt.c b/src/relay_chn_tilt.c
index acb6c47..9162258 100644
--- a/src/relay_chn_tilt.c
+++ b/src/relay_chn_tilt.c
@@ -104,6 +104,37 @@ static void relay_chn_tilt_start_timer_or_stop(relay_chn_tilt_ctl_t *tilt_ctl, e
     }
 }
 
+/**
+ * @brief Checks if the relay channel can perform the current tilt command.
+ *
+ * This function evaluates whether a tilt command can be executed based on the
+ * channel's history. The rules are as follows:
+ * - Tilting in the same direction as the last full run command (e.g., TILT_FORWARD
+ *   after a FORWARD run) is always allowed.
+ * - Tilting in the opposite direction of the last full run (e.g., TILT_REVERSE
+ *   after a FORWARD run) is only allowed if the tilt counter is greater than zero,
+ *   which indicates that the channel has previously tilted in the primary direction.
+ * - If the channel has not been run before, tilting is not allowed.
+ *
+ * @param tilt_ctl Pointer to the tilt control structure for the channel.
+ * @param tilt_cmd The tilt command to check against.
+ * 
+ * @return true if the tilt command is allowed, false otherwise.
+ */
+static bool relay_chn_can_perform_tilt_cmd(relay_chn_tilt_ctl_t *tilt_ctl, relay_chn_tilt_cmd_t tilt_cmd)
+{
+    relay_chn_cmd_t last_run_cmd = relay_chn_run_info_get_last_run_cmd(tilt_ctl->chn_ctl->run_info);
+    if (last_run_cmd == RELAY_CHN_CMD_FORWARD) {
+        return (tilt_cmd == RELAY_CHN_TILT_CMD_FORWARD) ||
+               (tilt_cmd == RELAY_CHN_TILT_CMD_REVERSE && tilt_ctl->tilt_count > 0);
+    } else if (last_run_cmd == RELAY_CHN_CMD_REVERSE) {
+        return (tilt_cmd == RELAY_CHN_TILT_CMD_REVERSE) ||
+               (tilt_cmd == RELAY_CHN_TILT_CMD_FORWARD && tilt_ctl->tilt_count > 0);
+    }
+
+    return false;
+}
+
 // Issue a tilt command to a specific relay channel.
 static void relay_chn_tilt_issue_cmd(relay_chn_tilt_ctl_t *tilt_ctl, relay_chn_tilt_cmd_t cmd)
 {
@@ -128,6 +159,11 @@ static void relay_chn_tilt_issue_cmd(relay_chn_tilt_ctl_t *tilt_ctl, relay_chn_t
         return;
     }
 
+    if (!relay_chn_can_perform_tilt_cmd(tilt_ctl, cmd)) {
+        ESP_LOGD(TAG, "Cannot perform tilt command: %d for #%d", cmd, tilt_ctl->chn_ctl->id);
+        return;
+    }
+
     // Set the command that will be processed
     tilt_ctl->cmd = cmd;
     switch (tilt_ctl->chn_ctl->state) {