diff --git a/drone/client.py b/drone/client.py
index 5433f7e..e6bdf45 100644
--- a/drone/client.py
+++ b/drone/client.py
@@ -607,7 +607,11 @@ def _command_land(*args, **kwargs):
 
 @messaging.message_callback("emergency_land")
 def _emergency_land(*args, **kwargs):
-    logger.info(flight.emergency_land().message)
+    try:
+        result = flight.emergency_land()
+        logger.info(result.message)
+    except rospy.ServiceException:
+        logger.error("Can't execute emergency land: service is unavailable!")
 
 
 @messaging.message_callback("disarm")
@@ -798,7 +802,7 @@ class Telemetry:
                 start_action = copter.animation.get_start_action(
                                 copter.config.animation_start_action, self.ros_telemetry.z,
                                 copter.config.animation_takeoff_level, copter.config.animation_ground_level,
-                                copter.config.animation_ratio, offset)
+                                copter.config.animation_ratio, offset, self.fcu_status)
             return [x,y,z,yaw,start_action,start_delay]
 
     @classmethod
diff --git a/drone/modules/animation.py b/drone/modules/animation.py
index c740aa3..9dfdbe0 100644
--- a/drone/modules/animation.py
+++ b/drone/modules/animation.py
@@ -322,7 +322,7 @@ class Animation(object):
         return ground_level <= self.get_scaled_output_min_z(ratio, offset)
 
     def get_start_action(self, start_action, current_height, takeoff_level,
-                                ground_level, ratio=(1,1,1), offset=(0,0,0)):
+                                ground_level, ratio=(1,1,1), offset=(0,0,0), state="STANDBY"):
         # Check output frames
         if not self.output_frames:
             return 'error: empty output frames'
@@ -335,7 +335,7 @@ class Animation(object):
             ground_level = float(ground_level)
         except ValueError:
             return 'error in [ANIMATION] ground_level parameter'
-        if ground_level > self.get_scaled_output_min_z(ratio, offset):
+        if state != "ACTIVE" and ground_level > self.get_scaled_output_min_z(ratio, offset):
             return 'error: some animation points are lower than ground level for {:.2f}m (max)'.format(
                 ground_level - self.get_scaled_output_min_z(ratio, offset)
             )