diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 7d3296d3b3..9ea2231aea 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1822,17 +1822,23 @@ Commander::run()
 			_geofence_violated_prev = false;
 		}
 
-		// revert geofence failsafe transition if sticks are moved and we were previously in a manual mode
+		// abort auto mode or geofence reaction if sticks are moved significantly
 		// but only if not in a low battery handling action
-		if (rc_override != 0 && (_battery_warning < battery_status_s::BATTERY_WARNING_CRITICAL)
-		    && (_geofence_warning_action_on
-			&& (main_state_before_rtl == commander_state_s::MAIN_STATE_MANUAL ||
-			    main_state_before_rtl == commander_state_s::MAIN_STATE_ALTCTL ||
-			    main_state_before_rtl == commander_state_s::MAIN_STATE_POSCTL ||
-			    main_state_before_rtl == commander_state_s::MAIN_STATE_ACRO ||
-			    main_state_before_rtl == commander_state_s::MAIN_STATE_RATTITUDE ||
-			    main_state_before_rtl == commander_state_s::MAIN_STATE_STAB))) {
+		const bool not_in_low_battery_reaction = _battery_warning < battery_status_s::BATTERY_WARNING_CRITICAL;
+		const bool manual_mode_before_geofence =
+			main_state_before_rtl == commander_state_s::MAIN_STATE_MANUAL ||
+			main_state_before_rtl == commander_state_s::MAIN_STATE_ALTCTL ||
+			main_state_before_rtl == commander_state_s::MAIN_STATE_POSCTL ||
+			main_state_before_rtl == commander_state_s::MAIN_STATE_ACRO ||
+			main_state_before_rtl == commander_state_s::MAIN_STATE_RATTITUDE ||
+			main_state_before_rtl == commander_state_s::MAIN_STATE_STAB;
+		const bool in_auto_mode =
+			internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
+			internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION ||
+			internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER;
 
+		if (rc_override != 0 && not_in_low_battery_reaction
+		    && (in_auto_mode || (_geofence_warning_action_on && manual_mode_before_geofence))) {
 			// transition to previous state if sticks are touched
 			if ((_last_sp_man.timestamp != sp_man.timestamp) &&
 			    ((fabsf(sp_man.x - _last_sp_man.x) > min_stick_change) ||
@@ -1846,27 +1852,6 @@ Commander::run()
 			}
 		}
 
-		// abort landing or auto or loiter if sticks are moved significantly
-		// but only if not in a low battery handling action
-		if (rc_override != 0 && (_battery_warning < battery_status_s::BATTERY_WARNING_CRITICAL) &&
-		    (internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
-		     internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION ||
-		     internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER)) {
-			// transition to previous state if sticks are touched
-
-			if ((_last_sp_man.timestamp != sp_man.timestamp) &&
-			    ((fabsf(sp_man.x - _last_sp_man.x) > min_stick_change) ||
-			     (fabsf(sp_man.y - _last_sp_man.y) > min_stick_change) ||
-			     (fabsf(sp_man.z - _last_sp_man.z) > min_stick_change) ||
-			     (fabsf(sp_man.r - _last_sp_man.r) > min_stick_change))) {
-
-				// revert to position control in any case
-				main_state_transition(status, commander_state_s::MAIN_STATE_POSCTL, status_flags, &internal_state);
-				mavlink_log_critical(&mavlink_log_pub, "Autopilot off! Returning control to pilot");
-			}
-		}
-
-
 		/* Check for mission flight termination */
 		if (armed.armed && _mission_result_sub.get().flight_termination &&
 		    !status_flags.circuit_breaker_flight_termination_disabled) {