diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 2f8189d722..3cf8a473c2 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2279,11 +2279,17 @@ Commander::run()
 			// abort autonomous mode and switch to position mode if sticks are moved significantly
 			if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
 			    && !in_low_battery_failsafe && !_geofence_warning_action_on
-			    && _manual_control.wantsOverride(_vehicle_control_mode)) {
+			    && _manual_control.wantsOverride(_vehicle_control_mode, _status)) {
 				if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
 							  _internal_state) == TRANSITION_CHANGED) {
 					tune_positive(true);
-					mavlink_log_info(&_mavlink_log_pub, "Pilot took over control using sticks");
+					mavlink_log_info(&_mavlink_log_pub, "Pilot took over position control using sticks");
+					_status_changed = true;
+
+				} else if (main_state_transition(_status, commander_state_s::MAIN_STATE_ALTCTL, _status_flags,
+								 _internal_state) == TRANSITION_CHANGED) {
+					tune_positive(true);
+					mavlink_log_info(&_mavlink_log_pub, "Pilot took over altitude control using sticks");
 					_status_changed = true;
 				}
 			}
diff --git a/src/modules/commander/ManualControl.cpp b/src/modules/commander/ManualControl.cpp
index 89f9557710..6d9bc6bd11 100644
--- a/src/modules/commander/ManualControl.cpp
+++ b/src/modules/commander/ManualControl.cpp
@@ -60,7 +60,8 @@ bool ManualControl::update()
 	return updated && _rc_available;
 }
 
-bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode)
+bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode,
+				  const vehicle_status_s &vehicle_status)
 {
 	const bool override_auto_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
 					&& vehicle_control_mode.flag_control_auto_enabled;
@@ -68,7 +69,11 @@ bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_
 	const bool override_offboard_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
 					    && vehicle_control_mode.flag_control_offboard_enabled;
 
-	if (_rc_available && (override_auto_mode || override_offboard_mode)) {
+	const bool override_landing = (vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL
+				       || vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND);
+
+
+	if (_rc_available && (override_auto_mode || override_offboard_mode || override_landing)) {
 		const float minimum_stick_change = .01f * _param_com_rc_stick_ov.get();
 
 		const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)
diff --git a/src/modules/commander/ManualControl.hpp b/src/modules/commander/ManualControl.hpp
index 38a616f5ff..862b2afdb1 100644
--- a/src/modules/commander/ManualControl.hpp
+++ b/src/modules/commander/ManualControl.hpp
@@ -65,7 +65,7 @@ public:
 	bool update();
 	bool isRCAvailable() const { return _rc_available; }
 	bool isMavlink() const { return _manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC; }
-	bool wantsOverride(const vehicle_control_mode_s &vehicle_control_mode);
+	bool wantsOverride(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status);
 	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,