diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index fb5037607a..76e1a3ac4a 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -427,14 +427,14 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 	if (run_preflight_checks) {
 		if (_vehicle_control_mode.flag_control_manual_enabled) {
 			if (_vehicle_control_mode.flag_control_climb_rate_enabled && _manual_control.isThrottleAboveCenter()) {
-				mavlink_log_critical(&_mavlink_log_pub, "Arming denied because throttle above center");
+				mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle above center");
 				tune_negative(true);
 				return TRANSITION_DENIED;
 
 			}
 
 			if (!_vehicle_control_mode.flag_control_climb_rate_enabled && !_manual_control.isThrottleLow()) {
-				mavlink_log_critical(&_mavlink_log_pub, "Arming denied because of high throttle");
+				mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle");
 				tune_negative(true);
 				return TRANSITION_DENIED;
 			}
@@ -2230,7 +2230,7 @@ Commander::run()
 				if (!_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) {
 					mavlink_log_critical(&_mavlink_log_pub, "Manual control lost");
 					_status.rc_signal_lost = true;
-					_rc_signal_lost_timestamp = _manual_control.getLastRCTimestamp();
+					_rc_signal_lost_timestamp = _manual_control.getLastRcTimestamp();
 					set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, _status);
 					_status_changed = true;
 				}
diff --git a/src/modules/commander/ManualControl.cpp b/src/modules/commander/ManualControl.cpp
index 1d62ecdcf3..60b5fa56c4 100644
--- a/src/modules/commander/ManualControl.cpp
+++ b/src/modules/commander/ManualControl.cpp
@@ -44,7 +44,7 @@ enum OverrideBits {
 
 bool ManualControl::update()
 {
-	bool ret = false;
+	bool updated = false;
 
 	if (_manual_control_setpoint_sub.updated()) {
 		manual_control_setpoint_s manual_control_setpoint;
@@ -53,17 +53,17 @@ bool ManualControl::update()
 			process(manual_control_setpoint);
 		}
 
-		ret = true;
+		updated = true;
 	}
 
 	_rc_available = _rc_allowed
 			&& _manual_control_setpoint.timestamp != 0
 			&& (hrt_elapsed_time(&_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s));
 
-	return ret && _rc_available;
+	return updated && _rc_available;
 }
 
-void ManualControl::process(manual_control_setpoint_s &manual_control_setpoint)
+void ManualControl::process(const manual_control_setpoint_s &manual_control_setpoint)
 {
 	_last_manual_control_setpoint = _manual_control_setpoint;
 	_manual_control_setpoint = manual_control_setpoint;
@@ -83,6 +83,7 @@ bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_
 		const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)
 				       || (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > minimum_stick_change)
 				       || (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > minimum_stick_change);
+		// Throttle change value doubled to achieve the same scaling even though the range is [0,1] instead of [-1,1]
 		const bool throttle_moved =
 			(fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) * 2.f > minimum_stick_change);
 		const bool use_throttle = !(_param_rc_override.get() & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
@@ -101,11 +102,8 @@ bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mo
 {
 	bool ret = false;
 
-	// no switch or button is mapped
 	const bool use_stick = manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_NONE;
-	// arm switch mapped and "switch is button" configured
 	const bool use_button = !use_stick && _param_com_arm_swisbtn.get();
-	// arm switch mapped and "switch_is_button" configured
 	const bool use_switch = !use_stick && !use_button;
 
 	const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
@@ -143,15 +141,12 @@ bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mo
 }
 
 bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
-			     manual_control_switches_s &manual_control_switches, const bool landed)
+			     const manual_control_switches_s &manual_control_switches, const bool landed)
 {
 	bool ret = false;
 
-	// no switch or button is mapped
 	const bool use_stick = manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_NONE;
-	// arm switch mapped and "switch is button" configured
 	const bool use_button = !use_stick && _param_com_arm_swisbtn.get();
-	// arm switch mapped and "switch_is_button" configured
 	const bool use_switch = !use_stick && !use_button;
 
 	const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
diff --git a/src/modules/commander/ManualControl.hpp b/src/modules/commander/ManualControl.hpp
index 80f49c09d1..ef87e8a22d 100644
--- a/src/modules/commander/ManualControl.hpp
+++ b/src/modules/commander/ManualControl.hpp
@@ -63,19 +63,19 @@ public:
 	 * @return true if there was new data
 	 */
 	bool update();
-	bool isRCAvailable() { return _rc_available; }
+	bool isRCAvailable() const { return _rc_available; }
 	bool wantsOverride(const vehicle_control_mode_s &vehicle_control_mode);
 	bool wantsDisarm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
 			 manual_control_switches_s &manual_control_switches, const bool landed);
 	bool wantsArm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
-		      manual_control_switches_s &manual_control_switches, const bool landed);
-	bool isThrottleLow() { return _last_manual_control_setpoint.z < 0.1f; }
-	bool isThrottleAboveCenter() { return _last_manual_control_setpoint.z > 0.6f; }
-	hrt_abstime getLastRCTimestamp() { return _last_manual_control_setpoint.timestamp; }
+		      const manual_control_switches_s &manual_control_switches, const bool landed);
+	bool isThrottleLow() const { return _last_manual_control_setpoint.z < 0.1f; }
+	bool isThrottleAboveCenter() const { return _last_manual_control_setpoint.z > 0.6f; }
+	hrt_abstime getLastRcTimestamp() const { return _last_manual_control_setpoint.timestamp; }
 
 private:
 	void updateParams() override;
-	void process(manual_control_setpoint_s &manual_control_setpoint);
+	void process(const manual_control_setpoint_s &manual_control_setpoint);
 
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	manual_control_setpoint_s _manual_control_setpoint{};