diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index ca4a30196b..c2816fd93f 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1400,7 +1400,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(safety), safety_sub, &safety);
 
 			/* disarm if safety is now on and still armed */
-			if (safety.safety_switch_available && !safety.safety_off && armed.armed) {
+			if (status.hil_state == vehicle_status_s::HIL_STATE_OFF && safety.safety_switch_available && !safety.safety_off && armed.armed) {
 				arming_state_t new_arming_state = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED ? vehicle_status_s::ARMING_STATE_STANDBY :
 								   vehicle_status_s::ARMING_STATE_STANDBY_ERROR);
 
@@ -1411,7 +1411,7 @@ int commander_thread_main(int argc, char *argv[])
 				}
 			}
 
-			/* notify the user if the status of the safety switch changes */
+			//Notify the user if the status of the safety switch changes
 			if (safety.safety_switch_available && previous_safety_off != safety.safety_off) {
 
 				if (safety.safety_off) {