diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 38797b8545..5b04e6bcc8 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -84,7 +84,7 @@ typedef enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_STABILIZE_ENABLED = 16, /* 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. | */
 	VEHICLE_MODE_FLAG_HIL_ENABLED = 32, /* 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. | */
 	VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64, /* 0b01000000 remote control input is enabled. | */
-	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. | */
+	VEHICLE_MODE_FLAG_SAFETY_ARMED = 128, /* 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state. | */
 	VEHICLE_MODE_FLAG_ENUM_END = 129, /*  | */
 } VEHICLE_MODE_FLAG;
 
@@ -575,14 +575,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
 			uint8_t custom_main_mode = (uint8_t)cmd.param2;
 			uint8_t custom_sub_mode = (uint8_t)cmd.param3;
 
-			transition_result_t arming_ret = TRANSITION_NOT_CHANGED;
-
 			transition_result_t main_ret = TRANSITION_NOT_CHANGED;
 
-			// We ignore base_mode & VEHICLE_MODE_FLAG_SAFETY_ARMED because
-			// the command VEHICLE_CMD_COMPONENT_ARM_DISARM should be used
-			// instead according to the latest mavlink spec.
-
 			if (base_mode & VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED) {
 				/* use autopilot-specific mode */
 				if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
@@ -690,15 +684,11 @@ Commander::handle_command(const vehicle_command_s &cmd)
 				}
 			}
 
-			if ((arming_ret != TRANSITION_DENIED) && (main_ret != TRANSITION_DENIED)) {
+			if (main_ret != TRANSITION_DENIED) {
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
-
-				if (arming_ret == TRANSITION_DENIED) {
-					mavlink_log_critical(&_mavlink_log_pub, "Arming command rejected");
-				}
 			}
 		}
 		break;