diff --git a/ArduSub/arming_checks.cpp b/ArduSub/arming_checks.cpp
index 9d58809875..db34900c55 100644
--- a/ArduSub/arming_checks.cpp
+++ b/ArduSub/arming_checks.cpp
@@ -20,10 +20,13 @@ void Sub::update_arming_checks(void)
 // performs pre-arm checks and arming checks
 bool Sub::all_arming_checks_passing(bool arming_from_gcs)
 {
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     if (failsafe.manual_control) {
         gcs_send_text(MAV_SEVERITY_WARNING, "Arming requires manual control");
         return false;
     }
+#endif
+
     if (pre_arm_checks(true)) {
         set_pre_arm_check(true);
     }
diff --git a/ArduSub/radio.cpp b/ArduSub/radio.cpp
index 5bc1e7e677..989835d9ca 100644
--- a/ArduSub/radio.cpp
+++ b/ArduSub/radio.cpp
@@ -44,6 +44,7 @@ void Sub::init_rc_in()
     // set default dead zones
     default_dead_zones();
 
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
     // initialize rc input to 1500 on control channels (rather than 0)
     for (int i = 0; i < 7; i++) {
         if (i == 4) {
@@ -52,6 +53,7 @@ void Sub::init_rc_in()
             hal.rcin->set_override(i, 1500);
         }
     }
+#endif
 
     // initialise throttle_zero flag
     ap.throttle_zero = true;