diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index c74dd96b54..f69842c517 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -298,7 +298,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
 				&status_flags,
 				5.0f, /* avionics rail voltage */
 				check_gps,
-				true, /* can arm without valid mission */
+				false, /* valid mission not required*/
 				2e6 /* 2 seconds after boot, everything should be checked */
 				);
 
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 40ab033899..a34fa28d53 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -415,9 +415,9 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 	case commander_state_s::MAIN_STATE_AUTO_MISSION:
 
 		/* need global position, home position, and a valid mission */
+		// TODO: require mission? condition_auto_mission_available
 		if (status_flags->condition_global_position_valid &&
-		    status_flags->condition_home_position_valid &&
-		    status_flags->condition_auto_mission_available) {
+		    status_flags->condition_home_position_valid) {
 
 			ret = TRANSITION_CHANGED;
 		}