diff --git a/src/modules/commander/UserModeIntention.cpp b/src/modules/commander/UserModeIntention.cpp
index 556bddbd18..2085995d6c 100644
--- a/src/modules/commander/UserModeIntention.cpp
+++ b/src/modules/commander/UserModeIntention.cpp
@@ -77,7 +77,8 @@ bool UserModeIntention::change(uint8_t user_intended_nav_state, ModeChangeSource
 
 		// Special case termination state: even though this mode prevents arming,
 		// still don't switch out of it after disarm and thus store it in _nav_state_after_disarming.
-		if (!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)
+		if ((!_health_and_arming_checks.modePreventsArming(user_intended_nav_state)
+		     && !isTakeOffIntended(user_intended_nav_state))
 		    || user_intended_nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) {
 			_nav_state_after_disarming = user_intended_nav_state;
 		}
diff --git a/src/modules/commander/UserModeIntention.hpp b/src/modules/commander/UserModeIntention.hpp
index cfb4e3998b..e37bf467b1 100644
--- a/src/modules/commander/UserModeIntention.hpp
+++ b/src/modules/commander/UserModeIntention.hpp
@@ -91,6 +91,7 @@ public:
 
 private:
 	bool isArmed() const { return _vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED; }
+	bool isTakeOffIntended(uint8_t user_intented_nav_state) const {return user_intented_nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF || user_intented_nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF;}
 
 	const vehicle_status_s &_vehicle_status;
 	const HealthAndArmingChecks &_health_and_arming_checks;