diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg
index ac92a29eb0..018082e7ae 100644
--- a/msg/vehicle_status_flags.msg
+++ b/msg/vehicle_status_flags.msg
@@ -49,7 +49,6 @@ uint16 DATA_LINK_LOST_CMD_MASK = 512
 uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
 uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048
 uint16 GPS_FAILURE_MASK = 4096
-uint16 GPS_FAILURE_CMD_MASK = 8192
 
 # 0x0001 usb_connected: status of the USB power supply
 # 0x0002 offboard_control_signal_found_once
@@ -64,6 +63,5 @@ uint16 GPS_FAILURE_CMD_MASK = 8192
 # 0x0400 vtol_transition_failure: Set to true if vtol transition failed
 # 0x0800 vtol_transition_failure_cmd: Set to true if vtol transition failure mode is commanded
 # 0x1000 gps_failure: Set to true if a gps failure is detected
-# 0x2000 gps_failure_cmd: Set to true if a gps failure mode is commanded
 
 uint16 other_flags
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index acb82ce03d..52962e9ca5 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -960,7 +960,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
 				/* param2 is currently used for other failsafe modes */
 				status_local->engine_failure_cmd = false;
 				status_flags.data_link_lost_cmd = false;
-				status_flags.gps_failure_cmd = false;
 				status_flags.rc_signal_lost_cmd = false;
 				status_flags.vtol_transition_failure_cmd = false;
 
@@ -978,11 +977,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
 					status_flags.data_link_lost_cmd = true;
 					warnx("data link loss mode commanded");
 
-				} else if ((int)cmd->param2 == 3) {
-					/* trigger gps loss mode */
-					status_flags.gps_failure_cmd = true;
-					warnx("GPS loss mode commanded");
-
 				} else if ((int)cmd->param2 == 4) {
 					/* trigger rc loss mode */
 					status_flags.rc_signal_lost_cmd = true;
@@ -2952,7 +2946,7 @@ Commander::run()
 			    internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL &&
 			    internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL &&
 			    ((status.data_link_lost && status_flags.gps_failure) ||
-			     (status_flags.data_link_lost_cmd && status_flags.gps_failure_cmd))) {
+			     (status_flags.data_link_lost_cmd))) {
 				armed.force_failsafe = true;
 				status_changed = true;
 				static bool flight_termination_printed = false;
@@ -2977,7 +2971,7 @@ Commander::run()
 			     internal_state.main_state == commander_state_s::MAIN_STATE_ALTCTL ||
 			     internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL) &&
 			    ((status.rc_signal_lost && status_flags.gps_failure) ||
-			     (status_flags.rc_signal_lost_cmd && status_flags.gps_failure_cmd))) {
+			     (status_flags.rc_signal_lost_cmd))) {
 				armed.force_failsafe = true;
 				status_changed = true;
 				static bool flight_termination_printed = false;
@@ -4531,9 +4525,6 @@ void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status
 	if (status_flags.gps_failure) {
 		v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_MASK;
 	}
-	if (status_flags.gps_failure_cmd) {
-		v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_CMD_MASK;
-	}
 
 	if ((v_flags.conditions != vehicle_status_flags.conditions) ||
 		(v_flags.other_flags != vehicle_status_flags.other_flags) ||
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index e42f195c9c..61d80b24a7 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -681,7 +681,7 @@ bool set_nav_state(struct vehicle_status_s *status,
 		} else if (status_flags->vtol_transition_failure_cmd) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
 
-		} else if (status_flags->gps_failure || status_flags->gps_failure_cmd) {
+		} else if (status_flags->gps_failure) {
 			if (status->is_rotary_wing) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
 
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 54eb740d3a..63821d30b4 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -109,7 +109,6 @@ struct status_flags_s {
     bool vtol_transition_failure;                        // Set to true if vtol transition failed
     bool vtol_transition_failure_cmd;                // Set to true if vtol transition failure mode is commanded
     bool gps_failure;                                // Set to true if a gps failure is detected
-    bool gps_failure_cmd;                                // Set to true if a gps failure mode is commanded
 };
 
 bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed);