diff --git a/sw/airborne/modules/cam_control/booz_cam.c b/sw/airborne/modules/cam_control/booz_cam.c
index 2082a831d3..58a6c0347b 100644
--- a/sw/airborne/modules/cam_control/booz_cam.c
+++ b/sw/airborne/modules/cam_control/booz_cam.c
@@ -33,9 +33,9 @@
 uint8_t booz_cam_mode;
 
 // Tilt definition
+int16_t booz_cam_tilt;
 #ifdef BOOZ_CAM_TILT_NEUTRAL
 int16_t booz_cam_tilt_pwm;
-int16_t booz_cam_tilt;
 #ifndef BOOZ_CAM_TILT_MIN
 #define BOOZ_CAM_TILT_MIN BOOZ_CAM_TILT_NEUTRAL
 #endif
@@ -46,8 +46,8 @@ int16_t booz_cam_tilt;
 #endif
 
 // Pan definition
-#ifdef BOOZ_CAM_PAN_NEUTRAL
 int16_t booz_cam_pan;
+#ifdef BOOZ_CAM_PAN_NEUTRAL
 #ifndef BOOZ_CAM_PAN_MIN
 #define BOOZ_CAM_PAN_MIN BOOZ_CAM_PAN_NEUTRAL
 #endif
@@ -78,9 +78,13 @@ void booz_cam_init(void) {
   booz_cam_tilt_pwm = BOOZ_CAM_TILT_NEUTRAL;
   BOOZ_CAM_SetPwm(booz_cam_tilt_pwm);
   booz_cam_tilt = 0;
+#else
+  booz_cam_tilt = 0;
 #endif
 #ifdef BOOZ_CAM_USE_PAN
   booz_cam_pan = BOOZ_CAM_PAN_NEUTRAL;
+#else
+  booz_cam_pan = 0;
 #endif
 }
 
diff --git a/sw/airborne/modules/cam_control/booz_cam.h b/sw/airborne/modules/cam_control/booz_cam.h
index 1afa847cb0..a2182e6940 100644
--- a/sw/airborne/modules/cam_control/booz_cam.h
+++ b/sw/airborne/modules/cam_control/booz_cam.h
@@ -47,12 +47,11 @@
 
 extern uint8_t booz_cam_mode;
 
+extern int16_t booz_cam_tilt;
+extern int16_t booz_cam_pan;
+
 #ifdef BOOZ_CAM_TILT_NEUTRAL
 extern int16_t booz_cam_tilt_pwm;
-extern int16_t booz_cam_tilt;
-#endif
-#ifdef BOOZ_CAM_PAN_NEUTRAL
-extern int16_t booz_cam_pan;
 #endif
 
 extern void booz_cam_init(void);