Try setting it up so you avoid those cases. I will do an example cross for you real quick:
Scramble (yellow top, red front):
R' B L R U L' B' D' B2 L' F B' R' F' L2 F2 B2 L2 D' L2 U2 R U' F D'
This is how I'd do the cross. I see green is 1 move away, and the orange is on the left slice and upper slice, while being flipped wrong. So I would do an R to move green in. That brings blue to the upper slice, then I'd do U2 to put blue over above the correct position. Then while moving blue in, I will flip orange and place it in. So the cross would be:
R U2 L' U2 L' B
Of course I'd do some rotations and that would be around a 2 second cross. Hope that helps.