diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 58787d0a64..aa2b80e537 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -633,6 +633,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
 	// For HIL platforms, require that simulated sensors are connected
 	if (arm && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL &&
 		is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
+
 		mavlink_log_critical(mavlink_log_pub_local, "HIL platform: Connect to simulator before arming");
 		return TRANSITION_DENIED;
 	}
@@ -651,7 +652,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
 					     can_arm_without_gps);
 
 	if (arming_res == TRANSITION_CHANGED) {
-		mavlink_log_info(mavlink_log_pub_local, "[cmd] %s by %s", arm ? "ARMED" : "DISARMED", armedBy);
+		mavlink_log_info(mavlink_log_pub_local, "%s by %s", arm ? "ARMED" : "DISARMED", armedBy);
 
 	} else if (arming_res == TRANSITION_DENIED) {
 		tune_negative(true);
@@ -848,16 +849,19 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 					}
 
 					// Refuse to arm if in manual with non-zero throttle
-					if ((status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL || status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB ||
-						status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO) && sp_man.z > 0.1f) {
+					if (cmd_arms
+						&& (status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL
+						|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB
+						|| status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO)
+						&& (sp_man.z > 0.1f)) {
+
 						mavlink_log_critical(&mavlink_log_pub, "Arming DENIED. Manual throttle non-zero.");
 						cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 						break;
 					}
-
 				}
 
-				transition_result_t arming_res = arm_disarm(cmd_arms,&mavlink_log_pub,  "arm/disarm component command");
+				transition_result_t arming_res = arm_disarm(cmd_arms, &mavlink_log_pub, "arm/disarm component command");
 
 				if (arming_res == TRANSITION_DENIED) {
 					mavlink_log_critical(&mavlink_log_pub, "REJECTING component arm cmd");