diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index dc247acc1f..e94ac41b18 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -139,32 +139,35 @@ void guidance_h_mode_changed(uint8_t new_mode) {
       stabilization_attitude_reset_care_free_heading();
     case GUIDANCE_H_MODE_FORWARD:
     case GUIDANCE_H_MODE_ATTITUDE:
+#if NO_ATTITUDE_RESET_ON_MODE_CHANGE
       /* reset attitude stabilization if previous mode was not using it */
       if (guidance_h_mode == GUIDANCE_H_MODE_KILL ||
           guidance_h_mode == GUIDANCE_H_MODE_RATE ||
-          guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT) {
+          guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT)
+#endif
         stabilization_attitude_enter();
-      }
       break;
 
     case GUIDANCE_H_MODE_HOVER:
       guidance_h_hover_enter();
+#if NO_ATTITUDE_RESET_ON_MODE_CHANGE
       /* reset attitude stabilization if previous mode was not using it */
       if (guidance_h_mode == GUIDANCE_H_MODE_KILL ||
           guidance_h_mode == GUIDANCE_H_MODE_RATE ||
-          guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT) {
+          guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT)
         stabilization_attitude_enter();
-      }
+#endif
       break;
 
     case GUIDANCE_H_MODE_NAV:
       guidance_h_nav_enter();
+#if NO_ATTITUDE_RESET_ON_MODE_CHANGE
       /* reset attitude stabilization if previous mode was not using it */
       if (guidance_h_mode == GUIDANCE_H_MODE_KILL ||
           guidance_h_mode == GUIDANCE_H_MODE_RATE ||
-          guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT) {
+          guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT)
         stabilization_attitude_enter();
-      }
+#endif
       break;
 
     default: