diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index 51fa66d0e8..5e81cb5b5e 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -192,7 +192,9 @@ 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
+#if NO_RC_THRUST_LIMIT
+    stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
+#else
     // saturate max authority with RC stick
     stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);
 #endif
@@ -205,7 +207,9 @@ 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
+#if NO_RC_THRUST_LIMIT
+    stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
+#else
     // saturate max authority with RC stick
     stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);
 #endif
@@ -228,7 +232,9 @@ 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
+#if NO_RC_THRUST_LIMIT
+      stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
+#else
       /* 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);