Can I continue to run tasks between autonomous and drive controlled periods?

We have separate tasks for the lifting of our robot’s arm (for scoring) and the driving of our robot. Both tasks are used in both the autonomous and user-controlled periods. Especially in the case of our lift system (which uses PID to maintain the height of the arm), it would be very useful to continue running the tasks between autonomous and user-controlled periods. I noticed that in the default competition template in ROBOTC, there is a “bStopTasksBetweenModes” variable, which reportedly allows us to continue running user-created tasks between the autonomous and user-controlled tasks.

Will this work? Are we allowed to continue running our tasks between autonomous and user-controlled periods?