diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 12c53e9419..092015fc25 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -222,6 +222,7 @@ STATIC_INLINE void failsafe_check( void ) {
 
 #if USE_GPS
   if (autopilot_mode == AP_MODE_NAV &&
+      autopilot_motors_on &&
 #if NO_GPS_LOST_WITH_RC_VALID
       radio_control.status != RC_OK &&
 #endif