diff --git a/relay_chn/src/relay_chn.c b/relay_chn/src/relay_chn.c
index dc26ad7..124ff18 100644
--- a/relay_chn/src/relay_chn.c
+++ b/relay_chn/src/relay_chn.c
@@ -174,6 +174,7 @@ typedef struct relay_chn_type {
 static esp_err_t relay_chn_init_tilt_control(relay_chn_t *relay_chn);
 static esp_err_t relay_chn_tilt_init(void);
 static void relay_chn_tilt_count_reset(relay_chn_t *relay_chn);
+static esp_err_t relay_chn_dispatch_tilt_cmd(relay_chn_t *relay_chn, relay_chn_tilt_cmd_t cmd);
 
 #endif // RELAY_CHN_ENABLE_TILTING
 
@@ -609,6 +610,37 @@ static void relay_chn_issue_cmd(relay_chn_t* relay_chn, relay_chn_cmd_t cmd)
             relay_chn_start_esp_timer_once(relay_chn->inertia_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
             break;
 
+#if RELAY_CHN_ENABLE_TILTING == 1
+        case RELAY_CHN_STATE_TILT_FORWARD:
+            // Terminate tilting first
+            relay_chn_dispatch_tilt_cmd(relay_chn, RELAY_CHN_TILT_CMD_STOP);
+            if (cmd == RELAY_CHN_CMD_FORWARD) {
+                // Schedule for running forward
+                relay_chn->pending_cmd = cmd;
+                relay_chn_update_state(relay_chn, RELAY_CHN_STATE_FORWARD_PENDING);
+                relay_chn_start_esp_timer_once(relay_chn->inertia_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
+            } else if (cmd == RELAY_CHN_CMD_REVERSE) {
+                // Run directly since it is the same direction
+                relay_chn_dispatch_cmd(relay_chn, cmd);
+                relay_chn_update_state(relay_chn, RELAY_CHN_STATE_REVERSE);
+            }
+            break;
+        case RELAY_CHN_STATE_TILT_REVERSE:
+            // Terminate tilting first
+            relay_chn_dispatch_tilt_cmd(relay_chn, RELAY_CHN_TILT_CMD_STOP);
+            if (cmd == RELAY_CHN_CMD_FORWARD) {
+                // Run directly since it is the same direction
+                relay_chn_dispatch_cmd(relay_chn, cmd);
+                relay_chn_update_state(relay_chn, RELAY_CHN_STATE_FORWARD);
+            } else if (cmd == RELAY_CHN_CMD_REVERSE) {
+                // Schedule for running reverse
+                relay_chn->pending_cmd = cmd;
+                relay_chn_update_state(relay_chn, RELAY_CHN_STATE_REVERSE_PENDING);
+                relay_chn_start_esp_timer_once(relay_chn->inertia_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
+            }
+            break;
+#endif
+
         default: ESP_LOGD(TAG, "relay_chn_evaluate: Unknown relay channel state!");
     }
 }