diff --git a/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml b/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
index c66926f3a7..6468397254 100644
--- a/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
+++ b/conf/airframes/OPENUAS/openuas_df_mini_spirit.xml
@@ -80,6 +80,7 @@
         <!--<define name="RADIO_CONTROL_NB_CHANNEL" value="16"/>-->  <!-- Set the OpenRXSR receiver to maximum channel output of 8 9ms -->
         <define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
         <configure name="RADIO_CONTROL_PPM_PIN" value="SERVO6"/>
+        <define name="USE_PWM6" value="0"/>
         <!-- Mode set one a three way switch -->
         <!--  Per default already GEAR if not defined  <define name="RADIO_MODE" value="RADIO_GEAR"/> --><!-- yes, already done by default if not redefined to something else-->
         <define name="RADIO_GEAR" value="RADIO_AUX2"/>
diff --git a/conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml b/conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml
index f073aebc4d..c28345786f 100644
--- a/conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml
+++ b/conf/airframes/OPENUAS/openuas_wltech_xk_a160.xml
@@ -110,14 +110,13 @@ NOTES:
 
       <!--<module name="gps" type="ubx_ucenter"/>--><!-- Not used ATM, GNSS setup manually for max perfromance-->
 
-      <configure name="USE_PWM5" value="0"/>
-
       <module name="radio_control" type="ppm">
         <!-- for debugging PPM values as default setting, enable the one below but use with correct telemetry XML document-->
         <!--<define name="TELEMETRY_MODE_DEBUG_RC" value="TRUE"/>-->
 	      <define name="RC_OK_CPT" value="25"/><!-- Switch back slower when entering RC range again to prevent flip flopping-->
         <define name="RADIO_CONTROL_NB_CHANNEL" value="8"/>
         <configure name="RADIO_CONTROL_PPM_PIN" value="SERVO6"/>
+        <define name="USE_PWM6" value="0"/>
         <!-- Mode set one a three way switch -->
         <!--  Per default already GEAR if not defined  <define name="RADIO_MODE" value="RADIO_GEAR"/> --><!-- yes, already done by default if not redefined to something else-->
         <define name="RADIO_GEAR" value="RADIO_AUX2"/>
diff --git a/sw/airborne/boards/lisa_m_common.h b/sw/airborne/boards/lisa_m_common.h
index ec9d3917c1..98f4081b48 100644
--- a/sw/airborne/boards/lisa_m_common.h
+++ b/sw/airborne/boards/lisa_m_common.h
@@ -250,10 +250,14 @@
 #define USE_DUAL_PWM6 1
 #else
 #define USE_PWM5 1
+#ifndef USE_PWM6 // this allows to disable servo 6 on Lisa M
 #define USE_PWM6 1
 #endif
+#endif
 
-
+#if PPM_CONFIG == 2 && USE_PWM6 == 1
+#warning "You cannot USE_PWM6 and SERVO6 (or equivalent) at the same time"
+#endif
 
 #if USE_SERVOS_7AND8
 #if USE_I2C1
diff --git a/sw/airborne/boards/lisa_mx_common.h b/sw/airborne/boards/lisa_mx_common.h
index 6505f45eec..d42a8514d6 100644
--- a/sw/airborne/boards/lisa_mx_common.h
+++ b/sw/airborne/boards/lisa_mx_common.h
@@ -420,7 +420,13 @@
 #define USE_PWM5 1
 #endif
 
+#ifndef USE_PWM6 // this allows to disable servo 6 on Lisa MXS
 #define USE_PWM6 1
+#endif
+
+#if PPM_CONFIG == 2 && USE_PWM6 == 1
+#warning "You cannot USE_PWM6 and SERVO6 (or equivalent) at the same time"
+#endif
 
 #if USE_SERVOS_7AND8
 #if USE_I2C1