diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index e0822148d2..d35a90da7a 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -618,13 +618,15 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
 /**
  * RC loss exceptions
  *
- * Specify modes in which RC loss is ignored and the failsafe action not triggered.
+ * Specify modes where manual control loss is ignored and no failsafe is triggered.
+ * External modes requiring stick input will still failsafe.
  *
  * @min 0
- * @max 7
+ * @max 15
  * @bit 0 Mission
  * @bit 1 Hold
  * @bit 2 Offboard
+ * @bit 3 External Mode
  * @group Commander
  */
 PARAM_DEFINE_INT32(COM_RCL_EXCEPT, 0);
diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp
index 905d24491c..d692745c42 100644
--- a/src/modules/commander/failsafe/failsafe.cpp
+++ b/src/modules/commander/failsafe/failsafe.cpp
@@ -472,8 +472,19 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 					      state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF)
 					     && (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::Hold);
 
+	const bool rc_loss_ignored_external_mode =
+		(state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL1 ||
+		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL2 ||
+		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL3 ||
+		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL4 ||
+		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL5 ||
+		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL6 ||
+		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL7 ||
+		 state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_EXTERNAL8)
+		&& (_param_com_rcl_except.get() & (int)ManualControlLossExceptionBits::ExternalMode);
+
 	const bool rc_loss_ignored = rc_loss_ignored_mission || rc_loss_ignored_loiter || rc_loss_ignored_offboard ||
-				     rc_loss_ignored_takeoff || ignore_any_link_loss_vtol_takeoff_fixedwing
+				     rc_loss_ignored_takeoff || rc_loss_ignored_external_mode || ignore_any_link_loss_vtol_takeoff_fixedwing
 				     || _manual_control_lost_at_arming;
 
 	if (_param_com_rc_in_mode.get() != int32_t(RcInMode::StickInputDisabled) && !rc_loss_ignored) {
diff --git a/src/modules/commander/failsafe/failsafe.h b/src/modules/commander/failsafe/failsafe.h
index 0db6748f4b..d7ac7c75c2 100644
--- a/src/modules/commander/failsafe/failsafe.h
+++ b/src/modules/commander/failsafe/failsafe.h
@@ -56,7 +56,8 @@ private:
 	enum class ManualControlLossExceptionBits : int32_t {
 		Mission = (1 << 0),
 		Hold = (1 << 1),
-		Offboard = (1 << 2)
+		Offboard = (1 << 2),
+		ExternalMode = (1 << 3)
 	};
 
 	enum class DatalinkLossExceptionBits : int32_t {