diff --git a/src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp b/src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp
index 7f53575f75..3eba58c3b7 100644
--- a/src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp
+++ b/src/modules/control_allocator/ActuatorGroupPreflightCheck.cpp
@@ -164,9 +164,7 @@ void ActuatorGroupPreflightCheck::updateState(hrt_abstime now)
 		}
 	}
 
-	const hrt_abstime duration = isThrust(_group) ? PREFLIGHT_CHECK_DURATION_THRUST : PREFLIGHT_CHECK_DURATION_SERVOS;
-
-	if (now - _started >= duration) {
+	if (now - _started >= PREFLIGHT_CHECK_DURATION) {
 		_running = false;
 		sendAck(_last_command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED, now);
 	}
diff --git a/src/modules/control_allocator/ActuatorGroupPreflightCheck.hpp b/src/modules/control_allocator/ActuatorGroupPreflightCheck.hpp
index 5e32bc0222..5be6870281 100644
--- a/src/modules/control_allocator/ActuatorGroupPreflightCheck.hpp
+++ b/src/modules/control_allocator/ActuatorGroupPreflightCheck.hpp
@@ -81,9 +81,7 @@ public:
 			    ActuatorEffectiveness &effectiveness);
 
 private:
-	static constexpr hrt_abstime PREFLIGHT_CHECK_DURATION_SERVOS = 500'000;  // 500 ms
-	// A bit longer since FW forward thrust can have significant slew rate
-	static constexpr hrt_abstime PREFLIGHT_CHECK_DURATION_THRUST = 2'000'000;  // 2 s
+	static constexpr hrt_abstime PREFLIGHT_CHECK_DURATION = 500'000;  // 500 ms
 
 	static bool isThrust(uint8_t group);
 	static bool isKnownGroup(uint8_t group);