diff --git a/src/modules/manual_control/ManualControlSelector.cpp b/src/modules/manual_control/ManualControlSelector.cpp
index d3a6ca9aa7..8b31b66862 100644
--- a/src/modules/manual_control/ManualControlSelector.cpp
+++ b/src/modules/manual_control/ManualControlSelector.cpp
@@ -72,7 +72,7 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
 					     || input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3
 					     || input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_4
 					     || input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_5);
-	const bool source_any_matched = (_rc_in_mode == 3);
+	const bool source_any_matched = (_rc_in_mode == 2);
 
 	return sample_from_the_past && sample_newer_than_timeout
 	       && (source_rc_matched || source_mavlink_matched || source_any_matched);
diff --git a/src/modules/manual_control/ManualControlSelectorTest.cpp b/src/modules/manual_control/ManualControlSelectorTest.cpp
index 01a4e88647..e860128dc7 100644
--- a/src/modules/manual_control/ManualControlSelectorTest.cpp
+++ b/src/modules/manual_control/ManualControlSelectorTest.cpp
@@ -131,7 +131,7 @@ TEST(ManualControlSelector, MavlinkInputOnly)
 TEST(ManualControlSelector, AutoInput)
 {
 	ManualControlSelector selector;
-	selector.setRcInMode(3);
+	selector.setRcInMode(2);
 	selector.setTimeout(500_ms);
 
 	uint64_t timestamp = some_time;