diff --git a/flight/modules/PathFollower/inc/vtolvelocitycontroller.h b/flight/modules/PathFollower/inc/vtolvelocitycontroller.h
index c5209a3d1..8d1108087 100644
--- a/flight/modules/PathFollower/inc/vtolvelocitycontroller.h
+++ b/flight/modules/PathFollower/inc/vtolvelocitycontroller.h
@@ -62,7 +62,6 @@ public:
 private:
     void UpdateVelocityDesired(void);
     int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
-    void fallback_to_hold(void);
 
     VtolPathFollowerSettingsData *vtolPathFollowerSettings;
     PIDControlNE controlNE;
diff --git a/flight/modules/PathFollower/pathfollower.cpp b/flight/modules/PathFollower/pathfollower.cpp
index 4c688e7e8..f96328965 100644
--- a/flight/modules/PathFollower/pathfollower.cpp
+++ b/flight/modules/PathFollower/pathfollower.cpp
@@ -242,6 +242,7 @@ static void pathFollowerSetActiveController(void)
     if (activeController == 0) {
         // Initialise
         pathFollowerInitializeControllersForFrameType();
+        AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
 
         switch (frameType) {
         case FRAME_TYPE_MULTIROTOR:
@@ -273,6 +274,7 @@ static void pathFollowerSetActiveController(void)
                 break;
             default:
                 activeController = 0;
+                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_UNINITIALISED);
                 break;
             }
             break;
@@ -289,6 +291,7 @@ static void pathFollowerSetActiveController(void)
                 break;
             default:
                 activeController = 0;
+                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_UNINITIALISED);
                 break;
             }
             break;
@@ -305,12 +308,14 @@ static void pathFollowerSetActiveController(void)
                 break;
             default:
                 activeController = 0;
+                AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_UNINITIALISED);
                 break;
             }
             break;
 
         default:
             activeController = 0;
+            AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_UNINITIALISED);
             break;
         }
     }
diff --git a/flight/modules/PathFollower/vtolbrakefsm.cpp b/flight/modules/PathFollower/vtolbrakefsm.cpp
index 6401e0a2f..addf95806 100644
--- a/flight/modules/PathFollower/vtolbrakefsm.cpp
+++ b/flight/modules/PathFollower/vtolbrakefsm.cpp
@@ -130,11 +130,6 @@ void VtolBrakeFSM::Activate()
     setState(BRAKE_STATE_BRAKE, FSMBRAKESTATUS_STATEEXITREASON_NONE);
 }
 
-void VtolBrakeFSM::Abort(void)
-{
-    setState(BRAKE_STATE_HOLD, FSMBRAKESTATUS_STATEEXITREASON_NONE);
-}
-
 PathFollowerFSMState_T VtolBrakeFSM::GetCurrentState(void)
 {
     switch (mBrakeData->currentState) {