diff --git a/conf/modules/fc_rotor.xml b/conf/modules/fc_rotor.xml
index e17f68c260..424b44d696 100644
--- a/conf/modules/fc_rotor.xml
+++ b/conf/modules/fc_rotor.xml
@@ -7,6 +7,13 @@
       The vehicles are are running the INDI control and the desired acceleration are given by script from ground.
     </description>
   </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings name="fcROTOR">
+        <dl_setting shortname="fc_rotor_running" var="fc_rotor_started" min="0" step="1" max="1" values="STOPPED|RUNNING"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
 
   <header>
     <file name="fc_rotor.h"/>
diff --git a/sw/airborne/modules/multi/fc_rotor/fc_rotor.c b/sw/airborne/modules/multi/fc_rotor/fc_rotor.c
index e46b2cae7f..2ecfe1c4f9 100644
--- a/sw/airborne/modules/multi/fc_rotor/fc_rotor.c
+++ b/sw/airborne/modules/multi/fc_rotor/fc_rotor.c
@@ -25,8 +25,15 @@
 #include "modules/multi/fc_rotor/fc_rotor.h"
 #include "firmwares/rotorcraft/navigation.h"
 
+bool fc_rotor_started = false;
+
+#ifndef FCROTOR_STARTED
+#define FCROTOR_STARTED true
+#endif
+
 void fc_rotor_init(void)
 {
+  fc_rotor_started = FCROTOR_STARTED;
 }
 
 void fc_read_msg(uint8_t *buf)
@@ -34,7 +41,7 @@ void fc_read_msg(uint8_t *buf)
   struct FloatVect3 u;
   uint8_t ac_id = DL_DESIRED_SETPOINT_ac_id(buf);
 
-  if (ac_id == AC_ID) {
+  if ((ac_id == AC_ID) && (fc_rotor_started == true)) {
     // 0: 2D control, 1: 3D control
     uint8_t flag = DL_DESIRED_SETPOINT_flag(buf);
 
diff --git a/sw/airborne/modules/multi/fc_rotor/fc_rotor.h b/sw/airborne/modules/multi/fc_rotor/fc_rotor.h
index 0001a631d2..902078364e 100644
--- a/sw/airborne/modules/multi/fc_rotor/fc_rotor.h
+++ b/sw/airborne/modules/multi/fc_rotor/fc_rotor.h
@@ -32,4 +32,6 @@
 extern void fc_rotor_init(void);
 extern void fc_read_msg(uint8_t *buf);
 
+extern bool fc_rotor_started;
+
 #endif // FC_ROTOR_H