diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 5ff45af013..0d92818edc 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -408,7 +408,6 @@ int Commander::custom_command(int argc, char *argv[])
 			} else if (!strcmp(argv[1], "auto:land")) {
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
 						     PX4_CUSTOM_SUB_MODE_AUTO_LAND);
-
 			} else if (!strcmp(argv[1], "auto:precland")) {
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
 						     PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND);
@@ -416,7 +415,6 @@ int Commander::custom_command(int argc, char *argv[])
 			} else if (!strcmp(argv[1], "ext1")) {
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
 						     PX4_CUSTOM_SUB_MODE_EXTERNAL1);
-
 			} else {
 				PX4_ERR("argument %s unsupported.", argv[1]);
 			}
@@ -844,6 +842,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
 							desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND;
 							break;
 
+						case PX4_CUSTOM_SUB_MODE_AUTO_CS_PREFLIGHT_CHECK:
+							desired_nav_state = vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK;
+							break;
+
 						case PX4_CUSTOM_SUB_MODE_EXTERNAL1...PX4_CUSTOM_SUB_MODE_EXTERNAL8:
 							desired_nav_state = vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 + (custom_sub_mode - PX4_CUSTOM_SUB_MODE_EXTERNAL1);
 							break;
diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h
index e4936982ff..54a7439445 100644
--- a/src/modules/commander/px4_custom_mode.h
+++ b/src/modules/commander/px4_custom_mode.h
@@ -65,6 +65,7 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
 	PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET,
 	PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND,
 	PX4_CUSTOM_SUB_MODE_AUTO_VTOL_TAKEOFF,
+	PX4_CUSTOM_SUB_MODE_AUTO_CS_PREFLIGHT_CHECK,
 	PX4_CUSTOM_SUB_MODE_EXTERNAL1,
 	PX4_CUSTOM_SUB_MODE_EXTERNAL2,
 	PX4_CUSTOM_SUB_MODE_EXTERNAL3,
@@ -157,6 +158,11 @@ static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
 		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_STABILIZED;
 		break;
 
+	case vehicle_status_s::NAVIGATION_STATE_CS_PREFLIGHT_CHECK:
+		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
+		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_CS_PREFLIGHT_CHECK;
+		break;
+
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
 		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
 		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF;