diff --git a/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp b/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp
index 955e094cc3..a058f87d9a 100644
--- a/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp
+++ b/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp
@@ -195,7 +195,7 @@ class SimpleFlightApi : public MultirotorApiBase {
         return 0.5f;    //measured in simulator by firing commands "MoveToLocation -x 0 -y 0" multiple times and looking at distance traveled
     }
 
-    virtual void commandMotorPWMs(float front_right_pwm, float rear_left_pwm, float front_left_pwm, float rear_right_pwm)
+    virtual void commandMotorPWMs(float front_right_pwm, float rear_left_pwm, float front_left_pwm, float rear_right_pwm) override
     {
         //Utils::log(Utils::stringf("commandMotorPWMs %f, %f, %f, %f", front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm));
 
@@ -362,6 +362,11 @@ class SimpleFlightApi : public MultirotorApiBase {
                 params_.position_pid.d.setValues(kd_axis4);
                 params_.gains_changed = true;
                 break;
+            case simple_flight::GoalModeType::Unknown:
+            case simple_flight::GoalModeType::Passthrough:
+            case simple_flight::GoalModeType::ConstantOutput:
+                // no gains to set associated with these modes
+                break;
         }
     }