diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index 8dbdf59828..51fa66d0e8 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -192,8 +192,10 @@ void guidance_v_run(bool_t in_flight) {
 #endif
     gv_update_ref_from_zd_sp(guidance_v_zd_sp);
     run_hover_loop(in_flight);
+#if !NO_RC_THRUST_LIMIT
     // saturate max authority with RC stick
     stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);
+#endif
     break;
 
   case GUIDANCE_V_MODE_HOVER:
@@ -203,8 +205,10 @@ void guidance_v_run(bool_t in_flight) {
 #endif
     gv_update_ref_from_z_sp(guidance_v_z_sp);
     run_hover_loop(in_flight);
+#if !NO_RC_THRUST_LIMIT
     // saturate max authority with RC stick
     stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);
+#endif
     break;
 
   case GUIDANCE_V_MODE_NAV:
@@ -224,11 +228,13 @@ void guidance_v_run(bool_t in_flight) {
         guidance_v_z_sp = -nav_flight_altitude; // For display only
         guidance_v_delta_t = nav_throttle;
       }
+#if !NO_RC_THRUST_LIMIT
       /* use rc limitation if available */
       if (radio_control.status == RC_OK)
         stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);
       else
         stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
+#endif
       break;
     }
   default: