diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 6d2ca2139d..679534690b 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1905,7 +1905,7 @@ int commander_thread_main(int argc, char *argv[])
 					} else {
 						/* check sensors also */
 						(void)Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, checkAirspeed,
-								(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status_flags.circuit_breaker_engaged_gpsfailure_check,
+								(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !can_arm_without_gps,
 								 /* checkDynamic */ true, is_vtol(&status), /* reportFailures */ hotplug_timeout, /* prearm */ false, hrt_elapsed_time(&commander_boot_timestamp));
 					}
 				}
@@ -4004,7 +4004,7 @@ void *commander_low_prio_loop(void *arg)
 						}
 
 						status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, checkAirspeed,
-							!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), !status_flags.circuit_breaker_engaged_gpsfailure_check,
+							!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), !can_arm_without_gps,
 							/* checkDynamic */ true, is_vtol(&status), /* reportFailures */ hotplug_timeout, /* prearm */ false, hrt_elapsed_time(&commander_boot_timestamp));
 
 						arming_state_transition(&status,