diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index dbca9614db..3524ac49bd 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1526,6 +1526,13 @@ Commander::run()
 
 			param_get(_param_takeoff_finished_action, &takeoff_complete_act);
 
+			/* check for unsafe Airmode settings: yaw airmode requires the use of an arming switch */
+			if (_airmode.get() == 2 && _rc_map_arm_switch.get() == 0) {
+				_airmode.set(1); // change to roll/pitch airmode
+				_airmode.commit();
+				mavlink_log_critical(&mavlink_log_pub, "Yaw Airmode requires the use of an Arm Switch")
+			}
+
 			param_init_forced = false;
 		}
 
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 1cb4d171af..ad56a8dca7 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -110,7 +110,10 @@ private:
 		(ParamInt<px4::params::COM_POS_FS_GAIN>) _failsafe_pos_gain,
 
 		(ParamInt<px4::params::COM_LOW_BAT_ACT>) _low_bat_action,
-		(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout
+		(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
+
+		(ParamInt<px4::params::MC_AIRMODE>) _airmode,
+		(ParamInt<px4::params::RC_MAP_ARM_SW>) _rc_map_arm_switch
 	)
 
 	const int64_t POSVEL_PROBATION_MIN = 1_s;	/**< minimum probation duration (usec) */