diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 2a2bcca727..1ed0a06575 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1403,7 +1403,7 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
 {
 	/* main mode switch */
 	if (!isfinite(sp_man->mode_switch)) {
-		warnx("mode sw not finite");
+		/* default to manual if signal is invalid */
 		current_status->mode_switch = MODE_SWITCH_MANUAL;
 
 	} else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) {
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index df6cbb7b2f..f98c79cd2d 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1406,16 +1406,24 @@ Sensors::rc_poll()
 		}
 
 		/* mode switch input */
-		manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
+		if (_rc.function[MODE] >= 0) {
+			manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
+		}
 
 		/* land switch input */
-		manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
+		if (_rc.function[MODE] >= 0) {
+			manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
+		}
 
 		/* assisted switch input */
-		manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
+		if (_rc.function[MODE] >= 0) {
+			manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
+		}
 
 		/* mission switch input */
-		manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
+		if (_rc.function[MODE] >= 0) {
+			manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
+		}
 
 		/* flaps */
 		if (_rc.function[FLAPS] >= 0) {