diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
index 2b7c453183..aa400e27c1 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
@@ -273,12 +273,27 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 		}
 
 		if (!context.isArmed() && ekf_gps_check_fail) {
-			NavModes required_groups_gps = required_groups;
-			events::Log log_level = events::Log::Error;
+			NavModes required_groups_gps;
+			events::Log log_level;
 
-			if (_param_com_arm_wo_gps.get()) {
+			switch (static_cast<GnssArmingCheck>(_param_com_arm_wo_gps.get())) {
+			default:
+
+			/* FALLTHROUGH */
+			case GnssArmingCheck::DenyArming:
+				required_groups_gps = required_groups;
+				log_level = events::Log::Error;
+				break;
+
+			case GnssArmingCheck::WarningOnly:
 				required_groups_gps = NavModes::None; // optional
 				log_level = events::Log::Warning;
+				break;
+
+			case GnssArmingCheck::Disabled:
+				required_groups_gps = NavModes::None;
+				log_level = events::Log::Disabled;
+				break;
 			}
 
 			// Only report the first failure to avoid spamming
@@ -438,11 +453,20 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor
 			}
 
 			if (message && reporter.mavlink_log_pub()) {
-				if (!_param_com_arm_wo_gps.get()) {
-					mavlink_log_critical(reporter.mavlink_log_pub(), message, " Fail");
+				switch (static_cast<GnssArmingCheck>(_param_com_arm_wo_gps.get())) {
+				default:
 
-				} else {
-					mavlink_log_critical(reporter.mavlink_log_pub(), message, "");
+				/* FALLTHROUGH */
+				case GnssArmingCheck::DenyArming:
+					mavlink_log_critical(reporter.mavlink_log_pub(), message, " Fail");
+					break;
+
+				case GnssArmingCheck::WarningOnly:
+					mavlink_log_warning(reporter.mavlink_log_pub(), message, "");
+					break;
+
+				case GnssArmingCheck::Disabled:
+					break;
 				}
 			}
 		}
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
index 4f61df8867..d5cb363e11 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
@@ -59,6 +59,12 @@ public:
 	void checkAndReport(const Context &context, Report &reporter) override;
 
 private:
+	enum class GnssArmingCheck : uint8_t {
+		DenyArming = 0,
+		WarningOnly = 1,
+		Disabled = 2
+	};
+
 	void checkEstimatorStatus(const Context &context, Report &reporter, const estimator_status_s &estimator_status,
 				  NavModes required_groups);
 	void checkSensorBias(const Context &context, Report &reporter, NavModes required_groups);
@@ -108,7 +114,7 @@ private:
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
 					(ParamInt<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode,
 					(ParamInt<px4::params::COM_ARM_MAG_STR>) _param_com_arm_mag_str,
-					(ParamBool<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
+					(ParamInt<px4::params::COM_ARM_WO_GPS>) _param_com_arm_wo_gps,
 					(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
 					(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
 					(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index a462c8ae89..0b20831a6e 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -225,11 +225,14 @@ PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 2.0f);
 PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f);
 
 /**
- * Allow arming without GPS
+ * GPS preflight check
+ *
+ * Measures taken when a check defined by EKF2_GPS_CHECK is failing.
  *
  * @group Commander
- * @value 0 Require GPS lock to arm
- * @value 1 Allow arming without GPS
+ * @value 0 Deny arming
+ * @value 1 Warning only
+ * @value 2 Disabled
  */
 PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);