diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 7c15992f40..f6780e2af1 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2504,12 +2504,15 @@ set_control_mode()
 		control_mode.flag_control_termination_enabled = false;
 		break;
 
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER:
+		/* override is not ok for the RTL and recovery mode */
+		control_mode.flag_external_manual_override_ok = false;
+		/* fallthrough */
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
 		control_mode.flag_control_manual_enabled = false;
 		control_mode.flag_control_auto_enabled = true;
 		control_mode.flag_control_rates_enabled = true;