diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 050750d080..1fa327613e 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -281,7 +281,7 @@ mixer_tick(void)
 		isr_debug(5, "> PWM disabled");
 	}
 
-	if (mixer_servos_armed && should_arm) {
+	if (mixer_servos_armed && (should_arm || should_arm_nothrottle)) {
 		/* update the servo outputs. */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
 			up_pwm_servo_set(i, r_page_servos[i]);