diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 93b6bc2ade..84bf1f4ad2 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1667,7 +1667,15 @@ Commander::run()
 			}
 
 			// Auto disarm after 5 seconds if kill switch is engaged
-			_auto_disarm_killed.set_state_and_update(armed.manual_lockdown || armed.lockdown, hrt_absolute_time());
+			bool auto_disarm = armed.manual_lockdown;
+
+			// auto disarm if locked down to avoid user confusion
+			//  skipped in HITL where lockdown is enabled for safety
+			if (status.hil_state != vehicle_status_s::HIL_STATE_ON) {
+				auto_disarm |= armed.lockdown;
+			}
+
+			_auto_disarm_killed.set_state_and_update(auto_disarm, hrt_absolute_time());
 
 			if (_auto_disarm_killed.get_state()) {
 				if (armed.manual_lockdown) {