diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index e279ee159a..75114ccfd3 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -855,9 +855,10 @@ bool set_nav_state(struct vehicle_status_s *status, struct commander_state_s *in
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
 			}
 
-			/* go into failsafe if RC is lost and datalink loss is not set up */
+			/* go into failsafe if RC is lost and datalink loss is not set up and rc loss is not disabled */
+
+		} else if (status->rc_signal_lost && rc_loss_enabled && !data_link_loss_enabled) {
 
-		} else if (status->rc_signal_lost && !data_link_loss_enabled) {
 			status->failsafe = true;
 
 			if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {