diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index c0c4e17b89..371858ce06 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -631,7 +631,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
 					     || (calling_reason == arm_disarm_reason_t::rc_switch)
 					     || (calling_reason == arm_disarm_reason_t::rc_button);
 
-		if (!landed && !(mc_manual_thrust_mode && commanded_by_rc)) {
+		if (!landed && !(mc_manual_thrust_mode && commanded_by_rc && _param_com_disarm_man.get())) {
 			if (calling_reason != arm_disarm_reason_t::rc_stick) {
 				mavlink_log_critical(&_mavlink_log_pub, "Disarming denied: not landed\t");
 				events::send(events::ID("commander_disarm_denied_not_landed"),
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 874f9a9b14..d477585c03 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -332,6 +332,7 @@ private:
 
 		(ParamFloat<px4::params::COM_DISARM_LAND>)  _param_com_disarm_land,
 		(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
+		(ParamBool<px4::params::COM_DISARM_MAN>)    _param_com_disarm_man,
 		(ParamInt<px4::params::COM_DL_LOSS_T>)      _param_com_dl_loss_t,
 		(ParamInt<px4::params::COM_HLDL_LOSS_T>)    _param_com_hldl_loss_t,
 		(ParamInt<px4::params::COM_HLDL_REG_T>)     _param_com_hldl_reg_t,
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 6274b841ec..e01b45276d 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -245,6 +245,19 @@ PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
  */
 PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0);
 
+/**
+ * Allow disarming via switch/stick/button on multicopters in manual thrust modes
+ *
+ * 0: Disallow disarming when not landed
+ * 1: Allow disarming in multicopter flight in modes where
+ * the thrust is directly controlled by thr throttle stick
+ * e.g. Stabilized, Acro
+ *
+ * @group Commander
+ * @boolean
+ */
+PARAM_DEFINE_INT32(COM_DISARM_MAN, 1);
+
 /**
  * Battery failsafe mode
  *