diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index 2287d88252..c8cd29d6e1 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -44,11 +44,11 @@
 #if (GUIDANCE_V_HOVER_KP < 0) ||                   \
   (GUIDANCE_V_HOVER_KD < 0)   ||                   \
   (GUIDANCE_V_HOVER_KI < 0)
-#warning "ALL control gains are now positive!!!"
+#error "ALL control gains are now positive!!!"
 #endif
 
-#if defined GUIDANCE_V_INV_M
-#warning "GUIDANCE_V_INV_M has been removed. If you don't want to use adaptive hover, please define GUIDANCE_V_NOMINAL_HOVER_THROTTLE"
+#ifdef GUIDANCE_V_NOMINAL_HOVER_THROTTLE
+PRINT_CONFIG_VAR(GUIDANCE_V_NOMINAL_HOVER_THROTTLE)
 #endif
 
 uint8_t guidance_v_mode;
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
index 56c2437215..a9c2f86403 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
@@ -84,7 +84,7 @@ extern int32_t guidance_v_fb_cmd;    ///< feed-back command
 extern int32_t guidance_v_delta_t;
 
 /** nominal throttle for hover.
- * This is only used if #"GUIDANCE_V_NOMINAL_HOVER_THROTTLE is defined!
+ * This is only used if #GUIDANCE_V_NOMINAL_HOVER_THROTTLE is defined!
  * Unit: factor of #MAX_PPRZ with range 0.1 : 0.9
  */
 extern float guidance_v_nominal_throttle;