diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index a74af18176..849f8ea42d 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -135,7 +135,7 @@ void AP_MotorsUGV::init(uint8_t frtype)
     setup_safety_output();
 
     // setup for omni vehicles
-    if (_frame_type != FRAME_TYPE_UNDEFINED) {
+    if (is_omni()) {
         setup_omni();
     }
 }
@@ -266,11 +266,7 @@ float AP_MotorsUGV::get_slew_limited_throttle(float throttle, float dt) const
  */
 bool AP_MotorsUGV::have_skid_steering() const
 {
-    if (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) &&
-        SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) {
-        return true;
-    }
-    return false;
+    return (SRV_Channels::function_assigned(SRV_Channel::k_throttleLeft) && SRV_Channels::function_assigned(SRV_Channel::k_throttleRight)) || is_omni();
 }
 
 // true if the vehicle has a mainsail
@@ -779,8 +775,8 @@ void AP_MotorsUGV::output_skid_steering(bool armed, float steering, float thrott
 // output for omni frames
 void AP_MotorsUGV::output_omni(bool armed, float steering, float throttle, float lateral)
 {
-    // exit immediately if the frame type is set to UNDEFINED
-    if (_frame_type == FRAME_TYPE_UNDEFINED) {
+    // exit immediately if the vehicle is not omni
+    if (!is_omni()) {
         return;
     }
 
diff --git a/libraries/AR_Motors/AP_MotorsUGV.h b/libraries/AR_Motors/AP_MotorsUGV.h
index 667c9fe9ff..7496de5ebb 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.h
+++ b/libraries/AR_Motors/AP_MotorsUGV.h
@@ -112,6 +112,9 @@ public:
     // returns true if the configured PWM type is digital and should have fixed endpoints
     bool is_digital_pwm_type() const;
 
+    // returns true if the vehicle is omni
+    bool is_omni() const { return _frame_type != FRAME_TYPE_UNDEFINED && _motors_num > 0; }
+
     // structure for holding motor limit flags
     struct AP_MotorsUGV_limit {
         uint8_t steer_left      : 1; // we have reached the steering controller's left most limit