diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 17dc911d51..e0689e1052 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2308,8 +2308,8 @@ Commander::run()
 						       status_flags,
 						       land_detector.landed,
 						       (link_loss_actions_t)_param_nav_rcl_act.get(),
-						       _param_com_obl_act.get(),
-						       _param_com_obl_rc_act.get(),
+						       (offboard_loss_actions_t)_param_com_obl_act.get(),
+						       (offboard_loss_rc_actions_t)_param_com_obl_rc_act.get(),
 						       (position_nav_loss_actions_t)_param_com_posctl_navl.get());
 
 		if (status.failsafe != failsafe_old) {
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 59b052397d..c8656f7c56 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -344,9 +344,12 @@ PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.0f);
  * The offboard loss failsafe will only be entered after a timeout,
  * set by COM_OF_LOSS_T in seconds.
  *
- * @value 0 Land mode
- * @value 1 Hold mode
- * @value 2 Return mode
+ * @value -1 Disabled
+ * @value  0 Land mode
+ * @value  1 Hold mode
+ * @value  2 Return mode
+ * @value  3 Terminate
+ * @value  4 Lockdown
  *
  * @group Commander
  */
@@ -358,12 +361,15 @@ PARAM_DEFINE_INT32(COM_OBL_ACT, 0);
  * The offboard loss failsafe will only be entered after a timeout,
  * set by COM_OF_LOSS_T in seconds.
  *
- * @value 0 Position mode
- * @value 1 Altitude mode
- * @value 2 Manual
- * @value 3 Return mode
- * @value 4 Land mode
- * @value 5 Hold mode
+ * @value -1 Disabled
+ * @value  0 Position mode
+ * @value  1 Altitude mode
+ * @value  2 Manual
+ * @value  3 Return mode
+ * @value  4 Land mode
+ * @value  5 Hold mode
+ * @value  6 Terminate
+ * @value  7 Lockdown
  * @group Commander
  */
 PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 879f3a0eb4..e22486f0d1 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -68,6 +68,27 @@ enum class link_loss_actions_t {
 	LOCKDOWN = 6,		// Kill the motors, same result as kill switch
 };
 
+enum class offboard_loss_actions_t {
+	DISABLED = -1,
+	AUTO_LAND = 0,		// Land mode
+	AUTO_LOITER = 1,	// Hold mode
+	AUTO_RTL = 2,		// Return mode
+	TERMINATE = 3,		// Turn off all controllers and set PWM outputs to failsafe value
+	LOCKDOWN = 4,		// Kill the motors, same result as kill switch
+};
+
+enum class offboard_loss_rc_actions_t {
+	DISABLED = -1, 		// Disabled
+	MANUAL_POSITION = 0, 	// Position mode
+	MANUAL_ALTITUDE = 1, 	// Altitude mode
+	MANUAL_ATTITUDE = 2, 	// Manual
+	AUTO_RTL = 3, 		// Return mode
+	AUTO_LAND = 4, 		// Land mode
+	AUTO_LOITER = 5, 	// Hold mode
+	TERMINATE = 6, 		// Turn off all controllers and set PWM outputs to failsafe value
+	LOCKDOWN = 7, 		// Kill the motors, same result as kill switch
+};
+
 enum class position_nav_loss_actions_t {
 	ALTITUDE_MANUAL = 0,	// Altitude/Manual. Assume use of remote control after fallback. Switch to Altitude mode if a height estimate is available, else switch to MANUAL.
 	LAND_TERMINATE = 1,	// Land/Terminate.  Assume no use of remote control after fallback. Switch to Land mode if a height estimate is available, else switch to TERMINATION.
@@ -99,7 +120,8 @@ void enable_failsafe(vehicle_status_s *status, bool old_failsafe, orb_advert_t *
 bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_state_s *internal_state,
 		   orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished,
 		   const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed,
-		   const link_loss_actions_t rc_loss_act, const int offb_loss_act, const int offb_loss_rc_act,
+		   const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act,
+		   const offboard_loss_rc_actions_t offb_loss_rc_act,
 		   const position_nav_loss_actions_t posctl_nav_loss_act);
 
 /*