diff --git a/sw/airborne/subsystems/actuators/motor_mixing.c b/sw/airborne/subsystems/actuators/motor_mixing.c
index 49794c1538..6e36c5c0f5 100644
--- a/sw/airborne/subsystems/actuators/motor_mixing.c
+++ b/sw/airborne/subsystems/actuators/motor_mixing.c
@@ -37,6 +37,9 @@
 #define INT32_MAX (2147483647)
 #endif
 
+#if defined MOTOR_MIXING_MIN_MOTOR || defined MOTOR_MIXING_MAX_MOTOR
+#error MIN_MOTOR and MAX_MOTOR have to be set via neutral/max of the respective servo
+#endif
 #define MOTOR_MIXING_MIN_MOTOR 0
 #define MOTOR_MIXING_MAX_MOTOR MAX_PPRZ