diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index e8b424111b..880c14bc4e 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -593,8 +593,17 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 			// failsafe: on engine failure
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
 
+			// Orbit can only be started via vehicle_command (mavlink). Recovery from failsafe into orbit
+			// is not possible and therefore the internal_state needs to be adjusted.
+			internal_state->main_state = commander_state_s::MAIN_STATE_POSCTL;
+
 		} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
-			// failsafe: necessary position estimate lost (nothing to do - everything done in check_invalid_pos_nav_state)
+			// failsafe: necessary position estimate lost; witching is done in check_invalid_pos_nav_state
+
+			// Orbit can only be started via vehicle_command (mavlink). Consequently, recovery from failsafe into orbit
+			// is not possible and therefore the internal_state needs to be adjusted.
+			internal_state->main_state = commander_state_s::MAIN_STATE_POSCTL;
+
 		} else if (status->data_link_lost && data_link_loss_act_configured && !landed && is_armed) {
 			// failsafe: just datalink is lost and we're in air
 			set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act,
@@ -602,6 +611,10 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 
 			enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
 
+			// Orbit can only be started via vehicle_command (mavlink). Consequently, recovery from failsafe into orbit
+			// is not possible and therefore the internal_state needs to be adjusted.
+			internal_state->main_state = commander_state_s::MAIN_STATE_POSCTL;
+
 		} else if (rc_lost && !data_link_loss_act_configured && is_armed) {
 			// failsafe: RC is lost, datalink loss is not set up and rc loss is not disabled
 			enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
@@ -609,6 +622,10 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 			set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act,
 						vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER);
 
+			// Orbit can only be started via vehicle_command (mavlink). Consequently, recovery from failsafe into orbit
+			// is not possible and therefore the internal_state needs to be adjusted.
+			internal_state->main_state = commander_state_s::MAIN_STATE_POSCTL;
+
 		} else {
 			// no failsafe, RC is not mandatory for orbit
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_ORBIT;