diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index 8ac54f7d0a..cc2a8a332c 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -26,6 +26,13 @@ bool Mode::enter()
 
 void Mode::get_pilot_desired_steering_and_throttle(float &steering_out, float &throttle_out)
 {
+    // no RC input means no throttle and centered steering
+    if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
+        steering_out = 0;
+        throttle_out = 0;
+        return;
+    }
+
     // apply RC skid steer mixing
     switch ((enum pilot_steer_type_t)rover.g.pilot_steer_type.get())
     {
diff --git a/APMrover2/mode_manual.cpp b/APMrover2/mode_manual.cpp
index d49c88dc6b..ecb3fbe753 100644
--- a/APMrover2/mode_manual.cpp
+++ b/APMrover2/mode_manual.cpp
@@ -3,17 +3,12 @@
 
 void ModeManual::update()
 {
-    // check for radio failsafe
-    if (rover.failsafe.bits & FAILSAFE_EVENT_THROTTLE) {
-        g2.motors.set_throttle(0.0f);
-        g2.motors.set_steering(0.0f);
-    } else {
-        float desired_steering, desired_throttle;
-        get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
-        // copy RC scaled inputs to outputs
-        g2.motors.set_throttle(desired_throttle);
-        g2.motors.set_steering(desired_steering);
-    }
+    float desired_steering, desired_throttle;
+    get_pilot_desired_steering_and_throttle(desired_steering, desired_throttle);
+
+    // copy RC scaled inputs to outputs
+    g2.motors.set_throttle(desired_throttle);
+    g2.motors.set_steering(desired_steering);
 
     // mark us as in_reverse when using a negative throttle to stop AHRS getting off
     rover.set_reverse(is_negative(g2.motors.get_throttle()));