diff --git a/msg/VehicleStatus.msg b/msg/VehicleStatus.msg
index 878b4b04ed..8fcb8c2fa9 100644
--- a/msg/VehicleStatus.msg
+++ b/msg/VehicleStatus.msg
@@ -121,4 +121,3 @@ bool rc_calibration_in_progress
 bool calibration_enabled
 
 bool pre_flight_checks_pass		# true if all checks necessary to arm pass
-
diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp
index 992429b965..9c01750f31 100644
--- a/src/modules/manual_control/ManualControl.cpp
+++ b/src/modules/manual_control/ManualControl.cpp
@@ -81,6 +81,7 @@ void ManualControl::processInput(hrt_abstime now)
 		vehicle_status_s vehicle_status;
 
 		if (_vehicle_status_sub.copy(&vehicle_status)) {
+			_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
 			_system_id = vehicle_status.system_id;
 			_rotary_wing = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
 			_vtol = vehicle_status.is_vtol;
@@ -269,8 +270,8 @@ void ManualControl::processSwitches(hrt_abstime &now)
 					}
 				}
 
-			} else {
-				// Send an initial request to switch to the mode requested by RC
+			} else if (!_armed) {
+				// Directly initialize mode using RC switch but only before arming
 				evaluateModeSlot(switches.mode_slot);
 			}
 
diff --git a/src/modules/manual_control/ManualControl.hpp b/src/modules/manual_control/ManualControl.hpp
index 474762fbbd..8e8bce13a5 100644
--- a/src/modules/manual_control/ManualControl.hpp
+++ b/src/modules/manual_control/ManualControl.hpp
@@ -136,6 +136,7 @@ private:
 	unsigned _image_sequence{0};
 	bool _video_recording{false};
 
+	bool _armed{false};
 	uint8_t _system_id{1};
 	bool _rotary_wing{false};
 	bool _vtol{false};
diff --git a/src/modules/manual_control/ManualControlTest.cpp b/src/modules/manual_control/ManualControlTest.cpp
index bcedf448fb..20591b48dc 100644
--- a/src/modules/manual_control/ManualControlTest.cpp
+++ b/src/modules/manual_control/ManualControlTest.cpp
@@ -282,3 +282,50 @@ TEST_F(SwitchTest, ModeSwitch)
 	EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE);
 	EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_AUTO_MISSION));
 }
+
+TEST_F(SwitchTest, ModeSwitchInitialization)
+{
+	// GIVEN: the mode switch is already in position 1 but there's no valid RC stick input yet
+	_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_1});
+	_manual_control.processInput(_timestamp += 10_ms);
+	// THEN: there is no action requested
+	EXPECT_FALSE(_action_request_sub.update());
+
+	// GIVEN: new valid stick input from RC
+	_manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC});
+	_manual_control.processInput(_timestamp += 10_ms);
+	// THEN: there is still no action requested because the switches were not updated yet
+	EXPECT_FALSE(_action_request_sub.update());
+
+	// GIVEN: switch update with the same positions
+	_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_1});
+	_manual_control.processInput(_timestamp += 10_ms);
+	// THEN: the mode switch is requested
+	EXPECT_TRUE(_action_request_sub.update());
+	EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE);
+	EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_ACRO));
+}
+
+TEST_F(SwitchTest, ModeSwitchInitializationArmed)
+{
+	// GIVEN: vehicle is armed
+	uORB::Publication<vehicle_status_s> vehicle_status_pub{ORB_ID(vehicle_status)};
+	vehicle_status_pub.publish({.arming_state = vehicle_status_s::ARMING_STATE_ARMED});
+
+	// GIVEN: valid stick input from RC
+	_manual_control_input_pub.publish({.timestamp_sample = _timestamp, .valid = true, .data_source = manual_control_setpoint_s::SOURCE_RC});
+	// and mode switch in position 1
+	_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_1});
+	_manual_control.processInput(_timestamp += 10_ms);
+
+	// THEN: no action requested because the vehicle is flying
+	EXPECT_FALSE(_action_request_sub.update());
+
+	// GIVEN: the switch changes position
+	_manual_control_switches_pub.publish({.timestamp_sample = _timestamp, .mode_slot = manual_control_switches_s::MODE_SLOT_2});
+	_manual_control.processInput(_timestamp += 10_ms);
+	// THEN: the mode switch is requested
+	EXPECT_TRUE(_action_request_sub.update());
+	EXPECT_EQ(_action_request_sub.get().action, ACTION_SWITCH_MODE);
+	EXPECT_EQ(_action_request_sub.get().mode, TestManualControl::navStateFromParam(NAVIGATION_STATE_MANUAL));
+}