diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index f6b8042dd5..51f5f7a8f8 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2115,16 +2115,17 @@ Commander::run()
 							    && _vehicle_control_mode.flag_control_offboard_enabled;
 
 			if ((override_auto_mode || override_offboard_mode) && !in_low_battery_failsafe && !_geofence_warning_action_on) {
-				const float minimum_stick_deflection = 0.01f * _param_com_rc_stick_ov.get();
+				const float minimum_stick_change = .01f * _param_com_rc_stick_ov.get();
 
-				const bool rpy_deflected = (fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) ||
-							(fabsf(_manual_control_setpoint.y) > minimum_stick_deflection)
-							|| (fabsf(_manual_control_setpoint.r) > minimum_stick_deflection);
-				const bool throttle_deflected = fabsf(_manual_control_setpoint.z - 0.5f) * 2.f > minimum_stick_deflection;
+				const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)
+						|| (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > minimum_stick_change)
+						|| (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > minimum_stick_change);
+				const bool throttle_moved =
+					(fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) * 2.f > minimum_stick_change);
 				const bool use_throttle = !(_param_rc_override.get() & OVERRIDE_IGNORE_THROTTLE_BIT);
 
 				if (!_status.rc_signal_lost &&
-				(rpy_deflected || (use_throttle && throttle_deflected))) {
+				(rpy_moved || (use_throttle && throttle_moved))) {
 					if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
 								  &_internal_state) == TRANSITION_CHANGED) {
 						tune_positive(true);
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index e59284cf3d..6a9d7e6e18 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -648,8 +648,8 @@ PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1);
 /**
  * RC stick override threshold
  *
- * If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold from the center
- * the autopilot switches to position mode and the pilot takes over control.
+ * If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold
+ * the autopilot the pilot takes over control.
  *
  * @group Commander
  * @unit %