diff --git a/src/drivers/pwm_out_sim/PWMSim.cpp b/src/drivers/pwm_out_sim/PWMSim.cpp
index 0bc688d79c..0e8dc0417c 100644
--- a/src/drivers/pwm_out_sim/PWMSim.cpp
+++ b/src/drivers/pwm_out_sim/PWMSim.cpp
@@ -249,20 +249,19 @@ PWMSim::run()
 			/* iterate actuators */
 			for (unsigned i = 0; i < _actuator_outputs.noutputs; i++) {
 				/* last resort: catch NaN, INF and out-of-band errors */
-				if (i < _actuator_outputs.noutputs &&
-				    PX4_ISFINITE(_actuator_outputs.output[i]) &&
-				    _actuator_outputs.output[i] >= -1.0f &&
-				    _actuator_outputs.output[i] <= 1.0f) {
+				const bool sane_mixer_output = PX4_ISFINITE(_actuator_outputs.output[i]) &&
+							       _actuator_outputs.output[i] >= -1.0f &&
+							       _actuator_outputs.output[i] <= 1.0f;
+
+				if (_armed && sane_mixer_output) {
 					/* scale for PWM output 1000 - 2000us */
 					_actuator_outputs.output[i] = 1500 + (500 * _actuator_outputs.output[i]);
 					_actuator_outputs.output[i] = math::constrain(_actuator_outputs.output[i], (float)_pwm_min[i], (float)_pwm_max[i]);
 
 				} else {
-					/*
-					 * Value is NaN, INF or out of band - set to the minimum value.
+					/* Disarmed or insane value - set disarmed pwm value
 					 * This will be clearly visible on the servo status and will limit the risk of accidentally
-					 * spinning motors. It would be deadly in flight.
-					 */
+					 * spinning motors. It would be deadly in flight. */
 					_actuator_outputs.output[i] = PWM_SIM_DISARMED_MAGIC;
 				}
 			}