diff --git a/src/modules/commander/arm_auth.cpp b/src/modules/commander/arm_auth.cpp
index de0a310276..70291d03e7 100644
--- a/src/modules/commander/arm_auth.cpp
+++ b/src/modules/commander/arm_auth.cpp
@@ -179,9 +179,11 @@ uint8_t arm_auth_check()
 	return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
 }
 
-void arm_auth_update(hrt_abstime now)
+void arm_auth_update(hrt_abstime now, bool param_update)
 {
-	param_get(param_arm_parameters, (int32_t*)&arm_parameters);
+	if (param_update) {
+		param_get(param_arm_parameters, (int32_t*)&arm_parameters);
+	}
 
 	switch (state) {
 	case ARM_AUTH_WAITING_AUTH:
diff --git a/src/modules/commander/arm_auth.h b/src/modules/commander/arm_auth.h
index 5e28fa64ac..96aaab0327 100644
--- a/src/modules/commander/arm_auth.h
+++ b/src/modules/commander/arm_auth.h
@@ -45,6 +45,6 @@ enum arm_auth_methods {
 };
 
 void arm_auth_init(orb_advert_t *mav_log_pub, uint8_t *system_id);
-void arm_auth_update(hrt_abstime now);
+void arm_auth_update(hrt_abstime now, bool param_update = true);
 uint8_t arm_auth_check();
 enum arm_auth_methods arm_auth_method_get();
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 29721bd8c7..f7eb1f743a 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1704,9 +1704,10 @@ Commander::run()
 		arming_ret = TRANSITION_NOT_CHANGED;
 
 		/* update parameters */
-		orb_check(param_changed_sub, &updated);
+		bool params_updated = false;
+		orb_check(param_changed_sub, &params_updated);
 
-		if (updated || param_init_forced) {
+		if (params_updated || param_init_forced) {
 
 			/* parameters changed */
 			struct parameter_update_s param_changed;
@@ -3189,7 +3190,7 @@ Commander::run()
 			have_taken_off_since_arming = false;
 		}
 
-		arm_auth_update(now);
+		arm_auth_update(now, params_updated || param_init_forced);
 
 		usleep(COMMANDER_MONITORING_INTERVAL);
 	}