diff --git a/src/modules/manual_control/ManualControlSelector.cpp b/src/modules/manual_control/ManualControlSelector.cpp
index 9607e0c13c..d9e800bb65 100644
--- a/src/modules/manual_control/ManualControlSelector.cpp
+++ b/src/modules/manual_control/ManualControlSelector.cpp
@@ -74,20 +74,40 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
 	const bool sample_newer_than_timeout = now < input.timestamp_sample + _timeout;
 
 	// Check if source matches the configuration
-	const bool source_rc_matched = (_rc_in_mode == 0) && isRc(input.data_source);
-	const bool source_mavlink_matched = (_rc_in_mode == 1) && isMavlink(input.data_source);
-	const bool source_any_matched = (_rc_in_mode == 2);
-	const bool source_first_matched = (_rc_in_mode == 3) &&
-					  (input.data_source == _first_valid_source
-					   || _first_valid_source == manual_control_setpoint_s::SOURCE_UNKNOWN);
-	const bool source_rc_priority = (_rc_in_mode == 5)
-					&& (isRc(input.data_source) || (now > _timestamp_last_rc + _timeout));
-	const bool source_mavlink_priority = (_rc_in_mode == 6)
-					     && (isMavlink(input.data_source) || (now > _timestamp_last_mavlink + _timeout));
+	bool match = false;
 
-	return sample_from_the_past && sample_newer_than_timeout && input.valid
-	       && (source_rc_matched || source_mavlink_matched || source_any_matched || source_first_matched || source_rc_priority
-		   || source_mavlink_priority);
+	switch (_rc_in_mode) { // COM_RC_IN_MODE
+	case 0: // RC Transmitter only
+		match = isRc(input.data_source);
+		break;
+
+	case 1: // Joystick only
+		match = isMavlink(input.data_source);
+		break;
+
+	case 2: // RC and Joystick with fallback
+		match = true;
+		break;
+
+	case 3: // RC or Joystick keep first
+		match = (input.data_source == _first_valid_source)
+			|| (_first_valid_source == manual_control_setpoint_s::SOURCE_UNKNOWN);
+		break;
+
+	case 5: // RC priority, Joystick fallback
+		match = isRc(input.data_source) || (now > _timestamp_last_rc + _timeout);
+		break;
+
+	case 6: // Joystick priority, RC fallback
+		match = isMavlink(input.data_source) || (now > _timestamp_last_mavlink + _timeout);
+		break;
+
+	case 4: // Stick input disabled
+	default:
+		break;
+	}
+
+	return sample_from_the_past && sample_newer_than_timeout && input.valid && match;
 }
 
 manual_control_setpoint_s &ManualControlSelector::setpoint()