diff --git a/msg/commander_state.msg b/msg/commander_state.msg
index 38c94931f1..f22f36864a 100644
--- a/msg/commander_state.msg
+++ b/msg/commander_state.msg
@@ -19,3 +19,5 @@ uint8 MAIN_STATE_ORBIT = 14
 uint8 MAIN_STATE_MAX = 15
 
 uint8 main_state		    	# main state machine
+
+uint16 main_state_changes
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index ef1198902d..f974b1c239 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1950,7 +1950,15 @@ Commander::run()
 		}
 
 		// update manual_control_setpoint before geofence (which might check sticks or switches)
-		_manual_control_setpoint_sub.update(&_manual_control_setpoint);
+		if (_manual_control_setpoint_sub.update(&_manual_control_setpoint)) {
+			// manual control from mavlink
+			if (_manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC) {
+				// if there's never been a mode change force position control as initial state
+				if (!_armed.armed && (_internal_state.main_state_changes == 0)) {
+					_internal_state.main_state = commander_state_s::MAIN_STATE_POSCTL;
+				}
+			}
+		}
 
 		/* start geofence result check */
 		_geofence_result_sub.update(&_geofence_result);
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index ee99c0a8e5..8770a28fc7 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -369,6 +369,7 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
 	if (ret == TRANSITION_CHANGED) {
 		if (internal_state->main_state != new_main_state) {
 			internal_state->main_state = new_main_state;
+			internal_state->main_state_changes++;
 			internal_state->timestamp = hrt_absolute_time();
 
 		} else {
@@ -462,6 +463,8 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 
 	case commander_state_s::MAIN_STATE_POSCTL: {
 
+			const bool rc_fallback_allowed = (posctl_nav_loss_act != position_nav_loss_actions_t::LAND_TERMINATE) || !is_armed;
+
 			if (rc_lost && is_armed) {
 				enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
 
@@ -472,10 +475,8 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 				 * this enables POSCTL using e.g. flow.
 				 * For fixedwing, a global position is needed. */
 
-			} else if (is_armed
-				   && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags,
-						   !(posctl_nav_loss_act == position_nav_loss_actions_t::LAND_TERMINATE),
-						   status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
+			} else if (check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags,
+							       rc_fallback_allowed, status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
 				// nothing to do - everything done in check_invalid_pos_nav_state
 
 			} else {
@@ -739,7 +740,7 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, or
 			if (status_flags.condition_local_position_valid) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 
-			} else  if (status_flags.condition_local_altitude_valid) {
+			} else if (status_flags.condition_local_altitude_valid) {
 				if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 					status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;