diff --git a/include/model_car_actuators.h b/include/model_car_actuators.h
index 9849d08a39cb6d0a2aa6fd4d3d672d20fc3f19da..47378aceb5ddefcf54b9ec2861104e6bd2c3a70c 100644
--- a/include/model_car_actuators.h
+++ b/include/model_car_actuators.h
@@ -20,7 +20,7 @@ class CModelCarActuators: public CModelCarDriverBase
   public:
     CModelCarActuators(std::string name);
     void send_command(double speed,double steering);
-    void emergency_stop(bool active);
+    void emergency_stop(void);
     void enable_ultrasounds(void);
     void disable_ultrasounds(void);
     ~CModelCarActuators(void);
diff --git a/src/model_car_actuators.cpp b/src/model_car_actuators.cpp
index 2f74566e02f945bf6e0fc2852d43d6741cb91fda..27a16eb477ef096101441b2617865765e160761e 100644
--- a/src/model_car_actuators.cpp
+++ b/src/model_car_actuators.cpp
@@ -43,14 +43,9 @@ void CModelCarActuators::send_command(double speed,double steering)
   this->send_request(ID_ARD_ACT_STEER_SERVO,1, &cmd);
 }
 
-void CModelCarActuators::emergency_stop(bool active)
+void CModelCarActuators::emergency_stop(void)
 {
-  uint8_t cmd;
-
-  if(active)
-    cmd=1;
-  else
-    cmd=0;
+  uint8_t cmd=1;
 
   this->send_request(ID_ARD_ACT_EMERGENCY_STOP,1,&cmd);
 }