diff --git a/src/modules/simu/simuv2.1/simu.cpp b/src/modules/simu/simuv2.1/simu.cpp
index 9919f87e4..1f4f0b087 100644
--- a/src/modules/simu/simuv2.1/simu.cpp
+++ b/src/modules/simu/simuv2.1/simu.cpp
@@ -61,13 +61,11 @@ ctrlCheck(tCar *car)
     if (isnan(car->ctrl->brakeCmd) || isinf(car->ctrl->brakeCmd)) car->ctrl->brakeCmd = 0;
     if (isnan(car->ctrl->clutchCmd) || isinf(car->ctrl->clutchCmd)) car->ctrl->clutchCmd = 0;
     if (isnan(car->ctrl->steer) || isinf(car->ctrl->steer)) car->ctrl->steer = 0;
-    if (isnan(car->ctrl->gear) || isinf(car->ctrl->gear)) car->ctrl->gear = 0;
 #else
     if (isnan(car->ctrl->accelCmd)) car->ctrl->accelCmd = 0;
     if (isnan(car->ctrl->brakeCmd)) car->ctrl->brakeCmd = 0;
     if (isnan(car->ctrl->clutchCmd)) car->ctrl->clutchCmd = 0;
     if (isnan(car->ctrl->steer)) car->ctrl->steer = 0;
-    if (isnan(car->ctrl->gear)) car->ctrl->gear = 0;
 #endif
 
     /* When the car is broken try to send it on the track side */
diff --git a/src/modules/simu/simuv2/simu.cpp b/src/modules/simu/simuv2/simu.cpp
index a0816ba8f..6d3d82d9b 100644
--- a/src/modules/simu/simuv2/simu.cpp
+++ b/src/modules/simu/simuv2/simu.cpp
@@ -61,13 +61,11 @@ ctrlCheck(tCar *car)
     if (isnan(car->ctrl->brakeCmd) || isinf(car->ctrl->brakeCmd)) car->ctrl->brakeCmd = 0;
     if (isnan(car->ctrl->clutchCmd) || isinf(car->ctrl->clutchCmd)) car->ctrl->clutchCmd = 0;
     if (isnan(car->ctrl->steer) || isinf(car->ctrl->steer)) car->ctrl->steer = 0;
-    if (isnan(car->ctrl->gear) || isinf(car->ctrl->gear)) car->ctrl->gear = 0;
 #else
     if (isnan(car->ctrl->accelCmd)) car->ctrl->accelCmd = 0;
     if (isnan(car->ctrl->brakeCmd)) car->ctrl->brakeCmd = 0;
     if (isnan(car->ctrl->clutchCmd)) car->ctrl->clutchCmd = 0;
     if (isnan(car->ctrl->steer)) car->ctrl->steer = 0;
-    if (isnan(car->ctrl->gear)) car->ctrl->gear = 0;
 #endif
 
     /* When the car is broken try to send it on the track side */
diff --git a/src/modules/simu/simuv3/simu.cpp b/src/modules/simu/simuv3/simu.cpp
index 144f3a556..7bafd0ae3 100644
--- a/src/modules/simu/simuv3/simu.cpp
+++ b/src/modules/simu/simuv3/simu.cpp
@@ -79,13 +79,11 @@ ctrlCheck(tCar *car)
     if (isnan(car->ctrl->brakeCmd) || isinf(car->ctrl->brakeCmd)) car->ctrl->brakeCmd = 0;
     if (isnan(car->ctrl->clutchCmd) || isinf(car->ctrl->clutchCmd)) car->ctrl->clutchCmd = 0;
     if (isnan(car->ctrl->steer) || isinf(car->ctrl->steer)) car->ctrl->steer = 0;
-    if (isnan(car->ctrl->gear) || isinf(car->ctrl->gear)) car->ctrl->gear = 0;
 #else
     if (isnan(car->ctrl->accelCmd)) car->ctrl->accelCmd = 0;
     if (isnan(car->ctrl->brakeCmd)) car->ctrl->brakeCmd = 0;
     if (isnan(car->ctrl->clutchCmd)) car->ctrl->clutchCmd = 0;
     if (isnan(car->ctrl->steer)) car->ctrl->steer = 0;
-    if (isnan(car->ctrl->gear)) car->ctrl->gear = 0;
 #endif
 
     /* When the car is broken try to send it on the track side */
diff --git a/src/modules/simu/simuv4/simu.cpp b/src/modules/simu/simuv4/simu.cpp
index 8179ab96b..5df62b662 100644
--- a/src/modules/simu/simuv4/simu.cpp
+++ b/src/modules/simu/simuv4/simu.cpp
@@ -61,7 +61,6 @@ ctrlCheck(tCar *car)
     if (isnan(car->ctrl->brakeCmd) || isinf(car->ctrl->brakeCmd)) car->ctrl->brakeCmd = 0;
     if (isnan(car->ctrl->clutchCmd) || isinf(car->ctrl->clutchCmd)) car->ctrl->clutchCmd = 0;
     if (isnan(car->ctrl->steer) || isinf(car->ctrl->steer)) car->ctrl->steer = 0;
-    if (isnan(car->ctrl->gear) || isinf(car->ctrl->gear)) car->ctrl->gear = 0;
 	if (isnan(car->ctrl->wingFrontCmd) || isinf(car->ctrl->wingFrontCmd)) car->ctrl->wingFrontCmd = 0;
 	if (isnan(car->ctrl->wingRearCmd) || isinf(car->ctrl->wingRearCmd)) car->ctrl->wingRearCmd = 0;
 	if (isnan(car->ctrl->brakeFrontLeftCmd) || isinf(car->ctrl->brakeFrontLeftCmd)) car->ctrl->brakeFrontLeftCmd = 0;
@@ -73,7 +72,6 @@ ctrlCheck(tCar *car)
     if (isnan(car->ctrl->brakeCmd)) car->ctrl->brakeCmd = 0;
     if (isnan(car->ctrl->clutchCmd)) car->ctrl->clutchCmd = 0;
     if (isnan(car->ctrl->steer)) car->ctrl->steer = 0;
-    if (isnan(car->ctrl->gear)) car->ctrl->gear = 0;
 	if (isnan(car->ctrl->wingFrontCmd)) car->ctrl->wingFrontCmd = 0;
 	if (isnan(car->ctrl->wingRearCmd)) car->ctrl->wingRearCmd = 0;
 	if (isnan(car->ctrl->brakeFrontLeftCmd)) car->ctrl->brakeFrontLeftCmd = 0;