diff --git a/rotorpy/simulate.py b/rotorpy/simulate.py
index 01d5b47..3bb6c53 100644
--- a/rotorpy/simulate.py
+++ b/rotorpy/simulate.py
@@ -195,12 +195,10 @@ def safety_exit(world, margin, state, flat, control):
     """
     Return exit status if any safety condition is violated, otherwise None.
     """
-    if np.any(np.abs(state['v']) > 100):
+    if np.any(np.abs(state['v']) > 20):
         return ExitStatus.OVER_SPEED
     if np.any(np.abs(state['w']) > 100):
         return ExitStatus.OVER_SPIN
-    if np.any(np.abs(state['x'] - flat['x']) > 20):
-        return ExitStatus.FLY_AWAY
 
     if len(world.world.get('blocks', [])) > 0:
         # If a world has objects in it we need to check for collisions.