diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 6285eca6b2..0285bf748b 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2449,6 +2449,7 @@ Commander::run()
 			    && !in_low_battery_failsafe && !_geofence_warning_action_on
 			    && _armed.armed
 			    && !_status_flags.rc_input_blocked
+			    && manual_control_setpoint.valid
 			    && manual_control_setpoint.user_override
 			    && override_enabled) {
 				const transition_result_t posctl_result =