diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 6ae9b1c0e4..7b5028f5f6 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -458,11 +458,14 @@ void EtbController::setOutput(expected<percent_t> outputValue) {
 
 	if (!m_motor) return;
 
-	// If output is valid and we aren't paused, output to motor.
-	if (outputValue && !engineConfiguration->pauseEtbControl) {
+	// If ETB is allowed, output is valid, and we aren't paused, output to motor.
+	if (ENGINE(limpManager).allowElectronicThrottle()
+		&& outputValue
+		&& !engineConfiguration->pauseEtbControl) {
 		m_motor->enable();
 		m_motor->set(ETB_PERCENT_TO_DUTY(outputValue.Value));
 	} else {
+		// Otherwise disable the motor.
 		m_motor->disable();
 	}
 }
diff --git a/unit_tests/tests/test_etb.cpp b/unit_tests/tests/test_etb.cpp
index 99d4bcea7c..72723a8866 100644
--- a/unit_tests/tests/test_etb.cpp
+++ b/unit_tests/tests/test_etb.cpp
@@ -529,6 +529,26 @@ TEST(etb, setOutputPauseControl) {
 	etb.setOutput(25.0f);
 }
 
+TEST(etb, setOutputLimpHome) {
+	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
+	StrictMock<MockMotor> motor;
+
+	// Must have TPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
+
+	EtbController etb;
+	INJECT_ENGINE_REFERENCE(&etb);
+	etb.init(ETB_Throttle1, &motor, nullptr, nullptr, true);
+
+	// Should be disabled when in ETB limp mode
+	EXPECT_CALL(motor, disable());
+
+	// Trip a fatal error
+	ENGINE(limpManager).fatalError();
+
+	etb.setOutput(25.0f);
+}
+
 TEST(etb, closedLoopPid) {
 	pid_s pid = {};
 	pid.pFactor = 5;