diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 7ad664ec8a..5ec49c26f4 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -187,6 +187,7 @@ static bool _last_condition_global_position_valid = false;
 static struct vehicle_land_detected_s land_detector = {};
 
 static float _eph_threshold_adj = INFINITY;	///< maximum allowable horizontal position uncertainty after adjustment for flight condition
+static bool _skip_pos_accuracy_check = false;
 
 /**
  * The daemon app only briefly exists to start
@@ -1759,8 +1760,8 @@ Commander::run()
 					    && !(estimator_status.control_mode_flags & (1 << estimator_status_s::CS_GPS))
 					    && !(estimator_status.control_mode_flags & (1 << estimator_status_s::CS_EV_POS)));
 		bool operator_controlled_position = (internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL);
-		bool skip_pos_accuracy_check = reliant_on_opt_flow && operator_controlled_position;
-		if (skip_pos_accuracy_check) {
+		_skip_pos_accuracy_check = reliant_on_opt_flow && operator_controlled_position;
+		if (_skip_pos_accuracy_check) {
 			_eph_threshold_adj = INFINITY;
 		} else {
 			_eph_threshold_adj = _eph_threshold.get();
@@ -1831,9 +1832,11 @@ Commander::run()
 				status_flags.condition_local_velocity_valid = false;
 
 			} else {
-				// use global position message to determine validity
-				const vehicle_global_position_s&global_position = _global_position_sub.get();
-				check_posvel_validity(true, global_position.eph, _eph_threshold_adj, global_position.timestamp, &_last_gpos_fail_time_us, &_gpos_probation_time_us, &status_flags.condition_global_position_valid, &status_changed);
+				if (!_skip_pos_accuracy_check) {
+					// use global position message to determine validity
+					const vehicle_global_position_s&global_position = _global_position_sub.get();
+					check_posvel_validity(true, global_position.eph, _eph_threshold_adj, global_position.timestamp, &_last_gpos_fail_time_us, &_gpos_probation_time_us, &status_flags.condition_global_position_valid, &status_changed);
+				}
 
 				// use local position message to determine validity
 				const vehicle_local_position_s &local_position = _local_position_sub.get();
@@ -3352,7 +3355,9 @@ Commander::reset_posvel_validity(bool *changed)
 	const vehicle_global_position_s &global_position = _global_position_sub.get();
 
 	// recheck validity
-	check_posvel_validity(true, global_position.eph, _eph_threshold_adj, global_position.timestamp, &_last_gpos_fail_time_us, &_gpos_probation_time_us, &status_flags.condition_global_position_valid, changed);
+	if (!_skip_pos_accuracy_check) {
+		check_posvel_validity(true, global_position.eph, _eph_threshold_adj, global_position.timestamp, &_last_gpos_fail_time_us, &_gpos_probation_time_us, &status_flags.condition_global_position_valid, changed);
+	}
 	check_posvel_validity(local_position.xy_valid, local_position.eph, _eph_threshold_adj, local_position.timestamp, &_last_lpos_fail_time_us, &_lpos_probation_time_us, &status_flags.condition_local_position_valid, changed);
 	check_posvel_validity(local_position.v_xy_valid, local_position.evh, _evh_threshold.get(), local_position.timestamp, &_last_lvel_fail_time_us, &_lvel_probation_time_us, &status_flags.condition_local_velocity_valid, changed);
 }