diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index ce3e9f83e9..4151fb5e22 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -56,17 +56,17 @@ FailureDetector::update_params()
 bool
 FailureDetector::update()
 {
-	bool result(false);
+	bool updated(false);
 
-	result = update_attitude_status();
+	updated = update_attitude_status();
 
-	return result;
+	return updated;
 }
 
 bool
 FailureDetector::update_attitude_status()
 {
-	bool result(false);
+	bool updated(false);
 
 	if (_sub_vehicule_attitude.update()) {
 		const vehicle_attitude_s &attitude = _sub_vehicule_attitude.get();
@@ -80,23 +80,29 @@ FailureDetector::update_attitude_status()
 		const float max_roll(fabsf(math::radians(max_roll_deg)));
 		const float max_pitch(fabsf(math::radians(max_pitch_deg)));
 
-		if (fabsf(roll) > max_roll) {
+		if ((max_roll > 0.0f) &&
+		    (fabsf(roll) > max_roll)) {
+
 			_status.roll = true;
+
 		} else {
 			_status.roll = false;
 		}
 
-		if (fabsf(pitch) > max_pitch) {
+		if ((max_pitch > 0.0f) &&
+		    (fabsf(pitch) > max_pitch)) {
+
 			_status.pitch = true;
+
 		} else {
 			_status.pitch = false;
 		}
 
-		result = true;
+		updated = true;
 
 	} else {
-		result = false;
+		updated = false;
 	}
 
-	return result;
+	return updated;
 }