diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 80389b13b9..bfa0b047a9 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -1110,7 +1110,7 @@ PX4FMU::cycle()
 		_throttle_armed = _safety_off && _armed.armed && !_armed.lockdown;
 
 		/* update PWM status if armed or if disarmed PWM values are set */
-		bool pwm_on = _safety_off && (_armed.armed || _num_disarmed_set > 0);
+		bool pwm_on = _armed.armed || _num_disarmed_set > 0;
 
 		if (_pwm_on != pwm_on) {
 			_pwm_on = pwm_on;