diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 5e2733d9a2..16748b0aad 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -200,7 +200,7 @@ void print_status();
 
 bool shutdown_if_allowed();
 
-transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub, const char *armedBy);
+transition_result_t arm_disarm(bool arm, bool run_preflight_checks, orb_advert_t *mavlink_log_pub, const char *armedBy);
 
 /**
  * Loop that runs at a lower rate and priority for calibration and parameter tasks.
@@ -383,7 +383,13 @@ int commander_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "arm")) {
-		if (TRANSITION_CHANGED != arm_disarm(true, &mavlink_log_pub, "command line")) {
+		bool force_arming = false;
+
+		if (argc > 2 && !strcmp(argv[2], "-f")) {
+			force_arming = true;
+		}
+
+		if (TRANSITION_CHANGED != arm_disarm(true, !force_arming, &mavlink_log_pub, "command line")) {
 			PX4_ERR("arming failed");
 		}
 
@@ -391,7 +397,7 @@ int commander_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "disarm")) {
-		if (TRANSITION_DENIED == arm_disarm(false, &mavlink_log_pub, "command line")) {
+		if (TRANSITION_DENIED == arm_disarm(false, true, &mavlink_log_pub, "command line")) {
 			PX4_ERR("rejected disarm");
 		}
 
@@ -405,7 +411,7 @@ int commander_main(int argc, char *argv[])
 		/* see if we got a home position */
 		if (status_flags.condition_local_position_valid) {
 
-			if (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "command line")) {
+			if (TRANSITION_DENIED != arm_disarm(true, true, &mavlink_log_pub, "command line")) {
 				ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF);
 
 			} else {
@@ -516,7 +522,7 @@ void usage(const char *reason)
 		PX4_INFO("%s", reason);
 	}
 
-	PX4_INFO("usage: commander {start|stop|status|calibrate|check|arm|disarm|takeoff|land|transition|mode}\n");
+	PX4_INFO("usage: commander {start|stop|status|calibrate|check|arm [-f]|disarm|takeoff|land|transition|mode}\n");
 }
 
 void print_status()
@@ -531,7 +537,8 @@ bool shutdown_if_allowed()
 			hrt_elapsed_time(&commander_boot_timestamp));
 }
 
-transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, const char *armedBy)
+transition_result_t arm_disarm(bool arm, bool run_preflight_checks, orb_advert_t *mavlink_log_pub_local,
+			       const char *armedBy)
 {
 	transition_result_t arming_res = TRANSITION_NOT_CHANGED;
 
@@ -541,7 +548,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
 					     safety,
 					     arm ? vehicle_status_s::ARMING_STATE_ARMED : vehicle_status_s::ARMING_STATE_STANDBY,
 					     &armed,
-					     true /* fRunPreArmChecks */,
+					     run_preflight_checks,
 					     mavlink_log_pub_local,
 					     &status_flags,
 					     arm_requirements,
@@ -818,7 +825,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
 					}
 				}
 
-				transition_result_t arming_res = arm_disarm(cmd_arms, &mavlink_log_pub, "Arm/Disarm component command");
+				transition_result_t arming_res = arm_disarm(cmd_arms, true, &mavlink_log_pub, "Arm/Disarm component command");
 
 				if (arming_res == TRANSITION_DENIED) {
 					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
@@ -1022,7 +1029,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
 					// switch to AUTO_MISSION and ARM
 					if ((TRANSITION_DENIED != main_state_transition(*status_local, commander_state_s::MAIN_STATE_AUTO_MISSION, status_flags,
 							&internal_state))
-					    && (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "Mission start command"))) {
+					    && (TRANSITION_DENIED != arm_disarm(true, true, &mavlink_log_pub, "Mission start command"))) {
 
 						cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
@@ -1683,7 +1690,7 @@ Commander::run()
 				}
 
 				if (_auto_disarm_landed.get_state()) {
-					arm_disarm(false, &mavlink_log_pub, "Auto disarm initiated");
+					arm_disarm(false, true, &mavlink_log_pub, "Auto disarm initiated");
 				}
 			}
 
@@ -1691,7 +1698,7 @@ Commander::run()
 			_auto_disarm_killed.set_state_and_update(armed.manual_lockdown, hrt_absolute_time());
 
 			if (_auto_disarm_killed.get_state()) {
-				arm_disarm(false, &mavlink_log_pub, "Kill-switch still engaged, disarming");
+				arm_disarm(false, true, &mavlink_log_pub, "Kill-switch still engaged, disarming");
 			}
 
 		} else {