diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index bf1d82ea73..944a84637b 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -280,7 +280,14 @@ int Commander::custom_command(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[0], "disarm")) {
-		send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.f, 0.f);
+		float param2 = 0.f;
+
+		// 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)
+		if (argc > 1 && !strcmp(argv[1], "-f")) {
+			param2 = 21196.f;
+		}
+
+		send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.f, param2);
 
 		return 0;
 	}
@@ -4208,6 +4215,7 @@ The commander module contains the state machine for mode switching and failsafe
 	PRINT_MODULE_USAGE_COMMAND("arm");
 	PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);
 	PRINT_MODULE_USAGE_COMMAND("disarm");
+	PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force disarming (disarm in air)", true);
 	PRINT_MODULE_USAGE_COMMAND("takeoff");
 	PRINT_MODULE_USAGE_COMMAND("land");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");