diff --git a/modules/robot/CMakeLists.txt b/modules/robot/CMakeLists.txt
index b20f96706e..b376dc5517 100644
--- a/modules/robot/CMakeLists.txt
+++ b/modules/robot/CMakeLists.txt
@@ -218,6 +218,10 @@ if(USE_UR_RTDE)
   vp_set_source_file_compile_flag(src/real-robot/universal-robots/vpRobotUniversalRobots.cpp -Wno-unused-parameter)
 endif()
 
+if(USE_MAVSDK)
+  vp_set_source_file_compile_flag(src/real-robot/mavsdk/vpRobotMavsdk.cp -Wno-unused-but-set-variable)
+endif()
+
 vp_set_source_file_compile_flag(src/light/vpRingLight.cpp -Wno-strict-overflow)
 vp_set_source_file_compile_flag(src/wireframe-simulator/vpClipping.cpp -Wno-strict-overflow)
 vp_set_source_file_compile_flag(src/wireframe-simulator/vpBoundio.cpp -Wno-strict-overflow)
diff --git a/modules/robot/src/real-robot/mavsdk/vpRobotMavsdk.cpp b/modules/robot/src/real-robot/mavsdk/vpRobotMavsdk.cpp
index 8273e35e77..cb6d242e6a 100644
--- a/modules/robot/src/real-robot/mavsdk/vpRobotMavsdk.cpp
+++ b/modules/robot/src/real-robot/mavsdk/vpRobotMavsdk.cpp
@@ -193,7 +193,7 @@ class vpRobotMavsdk::vpRobotMavsdkImpl
                                       calibration_promise.set_value();
                                       break;
                                     }
-      };
+    };
   }
 
   void calibrate_gyro(mavsdk::Calibration &calibration)
@@ -1086,18 +1086,6 @@ class vpRobotMavsdk::vpRobotMavsdkImpl
 
   void setVerbose(bool verbose) { m_verbose = verbose; }
 
-  // void waitSystemReady()
-  // {
-  //   if (! m_system_ready)
-  //   {
-  //     while (!m_telemetry.get()->health_all_ok()) {
-  //       std::cout << "Waiting for system to be ready\n";
-  //       sleep_for(seconds(1));
-  //     }
-  //     std::cout << "System is ready\n";
-  //   }
-  // }
-
 private:
   //*** Attributes ***//
   std::string m_address {}; ///< Ip address of the robot to discover on the network
@@ -1112,7 +1100,6 @@ class vpRobotMavsdk::vpRobotMavsdkImpl
   MAV_TYPE m_mav_type {}; // Vehicle type
   bool m_has_flying_capability { false };
 
-  bool m_system_ready { false };
   float m_position_incertitude { 0.05 };
   float m_yaw_incertitude { 0.09 }; // 5 deg
   bool m_verbose { false };