diff --git a/task_manager/task_manager/tasks/mission.py b/task_manager/task_manager/tasks/mission.py
index 49d4445..445f299 100644
--- a/task_manager/task_manager/tasks/mission.py
+++ b/task_manager/task_manager/tasks/mission.py
@@ -87,7 +87,7 @@ def execute_cb(self, goal_handle: ServerGoalHandle) -> MissionAction.Result:
 
                 if goal_handle.is_cancel_requested:
                     goal_handle.canceled()
-                else:
+                else:  # If mission is not cancelled but a subtask fail, we abort the mission
                     goal_handle.abort()
                 return result