diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 75659a344f..def762663e 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -426,18 +426,15 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 
 	if (run_preflight_checks) {
 		if (_vehicle_control_mode.flag_control_manual_enabled) {
-			const bool throttle_above_low = (_manual_control_setpoint.z > 0.1f);
-			const bool throttle_above_center = (_manual_control_setpoint.z > 0.6f);
-
-			if (_vehicle_control_mode.flag_control_climb_rate_enabled && throttle_above_center) {
-				mavlink_log_critical(&_mavlink_log_pub, "Arming denied! Throttle not centered");
+			if (_vehicle_control_mode.flag_control_climb_rate_enabled && _manual_control.isThrottleAboveCenter()) {
+				mavlink_log_critical(&_mavlink_log_pub, "Arming denied because throttle above center");
 				tune_negative(true);
 				return TRANSITION_DENIED;
 
 			}
 
-			if (!_vehicle_control_mode.flag_control_climb_rate_enabled && throttle_above_low) {
-				mavlink_log_critical(&_mavlink_log_pub, "Arming denied! Throttle not zero");
+			if (!_vehicle_control_mode.flag_control_climb_rate_enabled && !_manual_control.isThrottleLow()) {
+				mavlink_log_critical(&_mavlink_log_pub, "Arming denied because of high throttle");
 				tune_negative(true);
 				return TRANSITION_DENIED;
 			}
@@ -2099,7 +2096,6 @@ Commander::run()
 
 		_manual_control.setRCAllowed(!_status_flags.rc_input_blocked);
 		_manual_control.update();
-		_manual_control_setpoint = _manual_control._manual_control_setpoint;
 
 		// abort autonomous mode and switch to position mode if sticks are moved significantly
 		if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
@@ -2245,7 +2241,7 @@ Commander::run()
 				if (!_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) {
 					mavlink_log_critical(&_mavlink_log_pub, "Manual control lost");
 					_status.rc_signal_lost = true;
-					_rc_signal_lost_timestamp = _manual_control_setpoint.timestamp;
+					_rc_signal_lost_timestamp = _manual_control.getLastRCTimestamp();
 					set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, false, _status);
 					_status_changed = true;
 				}
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index e57f05c0e3..557580e335 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -349,7 +349,6 @@ private:
 
 	unsigned int	_leds_counter{0};
 
-	manual_control_setpoint_s _manual_control_setpoint{};
 	manual_control_switches_s _manual_control_switches{};
 	manual_control_switches_s _last_manual_control_switches{};
 	ManualControl _manual_control{this};
diff --git a/src/modules/commander/ManualControl.cpp b/src/modules/commander/ManualControl.cpp
index 787801e12f..ad2ed637be 100644
--- a/src/modules/commander/ManualControl.cpp
+++ b/src/modules/commander/ManualControl.cpp
@@ -101,7 +101,7 @@ bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mo
 	const bool arm_button_pressed = _param_arm_switch_is_button.get()
 					&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
 	const bool stick_in_lower_left = _manual_control_setpoint.r < -.9f
-					 && (_manual_control_setpoint.z < .1f)
+					 && isThrottleLow()
 					 && !arm_switch_or_button_mapped;
 	const bool arm_switch_to_disarm_transition = !_param_arm_switch_is_button.get()
 			&& (_last_manual_control_switches_arm_switch == manual_control_switches_s::SWITCH_POS_ON)
@@ -142,7 +142,7 @@ bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode,
 	const bool arm_button_pressed = _param_arm_switch_is_button.get()
 					&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
 	const bool stick_in_lower_right = _manual_control_setpoint.r > .9f
-					  && _manual_control_setpoint.z < 0.1f
+					  && isThrottleLow()
 					  && !arm_switch_or_button_mapped;
 
 	const bool arm_switch_to_arm_transition = !_param_arm_switch_is_button.get()
diff --git a/src/modules/commander/ManualControl.hpp b/src/modules/commander/ManualControl.hpp
index 5edec1c3c0..d4f9810c99 100644
--- a/src/modules/commander/ManualControl.hpp
+++ b/src/modules/commander/ManualControl.hpp
@@ -64,14 +64,16 @@ public:
 			 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,
 		      manual_control_switches_s &manual_control_switches, const bool landed);
-
-	manual_control_setpoint_s _manual_control_setpoint{};
+	bool isThrottleLow() { return _last_manual_control_setpoint.z < 0.1f; }
+	bool isThrottleAboveCenter() { return _last_manual_control_setpoint.z > 0.6f; }
+	hrt_abstime getLastRCTimestamp() { return _last_manual_control_setpoint.timestamp; }
 
 private:
 	void updateParams() override;
 	void process(manual_control_setpoint_s &manual_control_setpoint);
 
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
+	manual_control_setpoint_s _manual_control_setpoint{};
 	manual_control_setpoint_s _last_manual_control_setpoint{};
 
 	// Availability