diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 7917bc9f25..ec173c12be 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2201,6 +2201,59 @@ set_control_mode()
 		control_mode.flag_control_termination_enabled = false;
 		break;
 
+	case NAVIGATION_STATE_ALTCTL:
+		control_mode.flag_control_manual_enabled = true;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
+		control_mode.flag_control_altitude_enabled = true;
+		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_position_enabled = false;
+		control_mode.flag_control_velocity_enabled = false;
+		control_mode.flag_control_termination_enabled = false;
+		break;
+
+	case NAVIGATION_STATE_POSCTL:
+		control_mode.flag_control_manual_enabled = true;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
+		control_mode.flag_control_altitude_enabled = true;
+		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_position_enabled = true;
+		control_mode.flag_control_velocity_enabled = true;
+		control_mode.flag_control_termination_enabled = false;
+		break;
+
+	case NAVIGATION_STATE_AUTO_MISSION:
+	case NAVIGATION_STATE_AUTO_LOITER:
+	case NAVIGATION_STATE_AUTO_RTL:
+	case NAVIGATION_STATE_AUTO_RCRECOVER:
+	case NAVIGATION_STATE_AUTO_RTGS:
+	case NAVIGATION_STATE_AUTO_LANDENGFAIL:
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = true;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
+		control_mode.flag_control_altitude_enabled = true;
+		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_position_enabled = true;
+		control_mode.flag_control_velocity_enabled = true;
+		control_mode.flag_control_termination_enabled = false;
+		break;
+
+	case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
+		control_mode.flag_control_altitude_enabled = false;
+		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_position_enabled = false;
+		control_mode.flag_control_velocity_enabled = false;
+		control_mode.flag_control_termination_enabled = false;
+		break;
+
 	case NAVIGATION_STATE_ACRO:
 		control_mode.flag_control_manual_enabled = true;
 		control_mode.flag_control_auto_enabled = false;
@@ -2213,18 +2266,46 @@ set_control_mode()
 		control_mode.flag_control_termination_enabled = false;
 		break;
 
-	case NAVIGATION_STATE_ALTCTL:
-		control_mode.flag_control_manual_enabled = true;
-		control_mode.flag_control_auto_enabled = false;
+
+	case NAVIGATION_STATE_LAND:
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = true;
 		control_mode.flag_control_rates_enabled = true;
 		control_mode.flag_control_attitude_enabled = true;
+		/* in failsafe LAND mode position may be not available */
+		control_mode.flag_control_position_enabled = status.condition_local_position_valid;
+		control_mode.flag_control_velocity_enabled = status.condition_local_position_valid;
 		control_mode.flag_control_altitude_enabled = true;
 		control_mode.flag_control_climb_rate_enabled = true;
+		control_mode.flag_control_termination_enabled = false;
+		break;
+
+	case NAVIGATION_STATE_DESCEND:
+		/* TODO: check if this makes sense */
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = true;
+		control_mode.flag_control_rates_enabled = true;
+		control_mode.flag_control_attitude_enabled = true;
 		control_mode.flag_control_position_enabled = false;
 		control_mode.flag_control_velocity_enabled = false;
+		control_mode.flag_control_altitude_enabled = false;
+		control_mode.flag_control_climb_rate_enabled = true;
 		control_mode.flag_control_termination_enabled = false;
 		break;
 
+	case NAVIGATION_STATE_TERMINATION:
+		/* disable all controllers on termination */
+		control_mode.flag_control_manual_enabled = false;
+		control_mode.flag_control_auto_enabled = false;
+		control_mode.flag_control_rates_enabled = false;
+		control_mode.flag_control_attitude_enabled = false;
+		control_mode.flag_control_position_enabled = false;
+		control_mode.flag_control_velocity_enabled = false;
+		control_mode.flag_control_altitude_enabled = false;
+		control_mode.flag_control_climb_rate_enabled = false;
+		control_mode.flag_control_termination_enabled = true;
+		break;
+
 	case NAVIGATION_STATE_OFFBOARD:
 		control_mode.flag_control_manual_enabled = false;
 		control_mode.flag_control_auto_enabled = false;
@@ -2280,73 +2361,6 @@ set_control_mode()
 			control_mode.flag_control_position_enabled = false;
 			control_mode.flag_control_velocity_enabled = false;
 		}
-
-		break;
-
-	case NAVIGATION_STATE_POSCTL:
-		control_mode.flag_control_manual_enabled = true;
-		control_mode.flag_control_auto_enabled = false;
-		control_mode.flag_control_rates_enabled = true;
-		control_mode.flag_control_attitude_enabled = true;
-		control_mode.flag_control_altitude_enabled = true;
-		control_mode.flag_control_climb_rate_enabled = true;
-		control_mode.flag_control_position_enabled = true;
-		control_mode.flag_control_velocity_enabled = true;
-		control_mode.flag_control_termination_enabled = false;
-		break;
-
-	case NAVIGATION_STATE_AUTO_MISSION:
-	case NAVIGATION_STATE_AUTO_LOITER:
-	case NAVIGATION_STATE_AUTO_RTL:
-	case NAVIGATION_STATE_AUTO_RTGS:
-	case NAVIGATION_STATE_AUTO_LANDENGFAIL:
-		control_mode.flag_control_manual_enabled = false;
-		control_mode.flag_control_auto_enabled = true;
-		control_mode.flag_control_rates_enabled = true;
-		control_mode.flag_control_attitude_enabled = true;
-		control_mode.flag_control_altitude_enabled = true;
-		control_mode.flag_control_climb_rate_enabled = true;
-		control_mode.flag_control_position_enabled = true;
-		control_mode.flag_control_velocity_enabled = true;
-		control_mode.flag_control_termination_enabled = false;
-		break;
-
-	case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
-		control_mode.flag_control_manual_enabled = false;
-		control_mode.flag_control_auto_enabled = false;
-		control_mode.flag_control_rates_enabled = true;
-		control_mode.flag_control_attitude_enabled = true;
-		control_mode.flag_control_altitude_enabled = false;
-		control_mode.flag_control_climb_rate_enabled = true;
-		control_mode.flag_control_position_enabled = false;
-		control_mode.flag_control_velocity_enabled = false;
-		control_mode.flag_control_termination_enabled = false;
-		break;
-
-	case NAVIGATION_STATE_LAND:
-		control_mode.flag_control_manual_enabled = false;
-		control_mode.flag_control_auto_enabled = true;
-		control_mode.flag_control_rates_enabled = true;
-		control_mode.flag_control_attitude_enabled = true;
-		/* in failsafe LAND mode position may be not available */
-		control_mode.flag_control_position_enabled = status.condition_local_position_valid;
-		control_mode.flag_control_velocity_enabled = status.condition_local_position_valid;
-		control_mode.flag_control_altitude_enabled = true;
-		control_mode.flag_control_climb_rate_enabled = true;
-		control_mode.flag_control_termination_enabled = false;
-		break;
-
-	case NAVIGATION_STATE_TERMINATION:
-		/* disable all controllers on termination */
-		control_mode.flag_control_manual_enabled = false;
-		control_mode.flag_control_auto_enabled = false;
-		control_mode.flag_control_rates_enabled = false;
-		control_mode.flag_control_attitude_enabled = false;
-		control_mode.flag_control_position_enabled = false;
-		control_mode.flag_control_velocity_enabled = false;
-		control_mode.flag_control_altitude_enabled = false;
-		control_mode.flag_control_climb_rate_enabled = false;
-		control_mode.flag_control_termination_enabled = true;
 		break;
 
 	default: