diff --git a/ArduSub/APM_Config.h b/ArduSub/APM_Config.h
index 9ca4a0bb21..fb63436457 100644
--- a/ArduSub/APM_Config.h
+++ b/ArduSub/APM_Config.h
@@ -19,7 +19,6 @@
 //#define AC_RALLY              ENABLED            // enable rally points library
 //#define AC_TERRAIN            ENABLED            // enable terrain library (Must also enable Rally)
 //#define OPTFLOW               ENABLED // enable optical flow sensor support
-//#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE   // disable mode changes from GCS during Radio failsafes.  Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
 
 // User Hooks : For User Developed code that you wish to run
 // Put your variable definitions into the UserVariables.h file (or another file name and then change the #define below).
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index f26591b27e..0ac49101e2 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -923,16 +923,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
     }
 
     case MAVLINK_MSG_ID_SET_MODE: {     // MAV ID: 11
-#ifdef DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE
-        if (!sub.failsafe.manual_control) {
-            handle_set_mode(msg, FUNCTOR_BIND(&sub, &Sub::gcs_set_mode, bool, uint8_t));
-        } else {
-            // don't allow mode changes while in radio failsafe
-            mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, MAV_RESULT_FAILED);
-        }
-#else
         handle_set_mode(msg, FUNCTOR_BIND(&sub, &Sub::gcs_set_mode, bool, uint8_t));
-#endif
         break;
     }