diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg
index 4d9716f6c9..3fe2426593 100644
--- a/msg/vehicle_status.msg
+++ b/msg/vehicle_status.msg
@@ -126,7 +126,7 @@ bool rc_signal_lost				# true if RC reception lost
 uint64 rc_signal_lost_timestamp			# Time at which the RC reception was lost
 bool rc_signal_lost_cmd				# true if RC lost mode is commanded
 bool rc_input_blocked				# set if RC input should be ignored temporarily
-bool rc_input_off				# set if RC input should be disabled completely
+uint8 rc_input_off				# set to 1 to disable the RC input, 2 to enable manual control to RC in mapping.
 
 bool data_link_lost				# datalink to GCS lost
 bool data_link_lost_cmd				# datalink to GCS lost mode commanded
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 2e68de08d2..5f022370a0 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -889,7 +889,7 @@ int commander_thread_main(int argc, char *argv[])
 	status.condition_landed = true;	// initialize to safe value
 	// We want to accept RC inputs as default
 	status.rc_input_blocked = false;
-	status.rc_input_off = false;
+	status.rc_input_off = vehicle_status_s::RC_IN_MODE_DEFAULT;
 	status.main_state =vehicle_status_s::MAIN_STATE_MANUAL;
 	status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
 	status.arming_state = vehicle_status_s::ARMING_STATE_INIT;
@@ -1237,7 +1237,7 @@ int commander_thread_main(int argc, char *argv[])
 			param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
 			param_get(_param_rc_loss_timeout, &rc_loss_timeout);
 			param_get(_param_rc_in_off, &rc_in_off);
-			status.rc_input_off = (rc_in_off == vehicle_status_s::RC_IN_MODE_OFF);
+			status.rc_input_off = rc_in_off;
 			param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
 			param_get(_param_ef_throttle_thres, &ef_throttle_thres);
 			param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
@@ -1310,7 +1310,8 @@ int commander_thread_main(int argc, char *argv[])
 					}
 
 					/* provide RC and sensor status feedback to the user */
-					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed, !status.rc_input_off, !status.circuit_breaker_engaged_gpsfailure_check);
+					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
+						!(status.rc_input_off == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
 				}
 
 				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@@ -1712,7 +1713,7 @@ int commander_thread_main(int argc, char *argv[])
 		} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
 
 		/* RC input check */
-		if (!status.rc_input_off && !status.rc_input_blocked && sp_man.timestamp != 0 &&
+		if (!(status.rc_input_off == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 &&
 		    hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
 			/* handle the case where RC signal was regained */
 			if (!status.rc_signal_found_once) {
@@ -2775,7 +2776,8 @@ void *commander_low_prio_loop(void *arg)
 							checkAirspeed = true;
 						}
 
-						status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_off, !status.circuit_breaker_engaged_gpsfailure_check);
+						status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed,
+							!(status.rc_input_off == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
 
 						arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);
 
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 045fbd5fd2..0dedd22282 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -692,5 +692,5 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		checkAirspeed = true;
 	}
 
-	return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status->rc_input_off, !status->circuit_breaker_engaged_gpsfailure_check, true);
+	return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_off == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true);
 }
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 04b368a434..e0ce617fae 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -904,6 +904,14 @@ static switch_pos_t decode_switch_pos(uint16_t buttons, int sw) {
 	return (buttons >> (sw * 2)) & 3;
 }
 
+static int decode_switch_pos_n(uint16_t buttons, int sw) {
+	if (buttons & (1 << sw)) {
+		return 1;
+	} else {
+		return 0;
+	}
+}
+
 void
 MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 {
@@ -929,17 +937,17 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
 		rc.rc_ppm_frame_length = 0;
 		rc.input_source = RC_INPUT_SOURCE_MAVLINK;
 		rc.rssi = RC_INPUT_RSSI_MAX;
-		rc.values[0] = man.x * 500 + 1500;
-		rc.values[1] = man.y * 500 + 1500;
-		rc.values[2] = man.r / 2.0f + 1500;
-		rc.values[3] = man.z / 2.0f + 1500;
+		rc.values[0] = man.x / 2 + 1500;
+		rc.values[1] = man.y / 2 + 1500;
+		rc.values[2] = man.r / 2 + 1500;
+		rc.values[3] = man.z + 1000;
 
-		rc.values[4] = decode_switch_pos(man.buttons, 0) * 1000 + 1000;
-		rc.values[5] = decode_switch_pos(man.buttons, 1) * 1000 + 1000;
-		rc.values[6] = decode_switch_pos(man.buttons, 2) * 1000 + 1000;
-		rc.values[7] = decode_switch_pos(man.buttons, 3) * 1000 + 1000;
-		rc.values[8] = decode_switch_pos(man.buttons, 4) * 1000 + 1000;
-		rc.values[9] = decode_switch_pos(man.buttons, 5) * 1000 + 1000;
+		rc.values[4] = decode_switch_pos_n(man.buttons, 0) * 1000 + 1000;
+		rc.values[5] = decode_switch_pos_n(man.buttons, 1) * 1000 + 1000;
+		rc.values[6] = decode_switch_pos_n(man.buttons, 2) * 1000 + 1000;
+		rc.values[7] = decode_switch_pos_n(man.buttons, 3) * 1000 + 1000;
+		rc.values[8] = decode_switch_pos_n(man.buttons, 4) * 1000 + 1000;
+		rc.values[9] = decode_switch_pos_n(man.buttons, 5) * 1000 + 1000;
 
 		if (_rc_pub <= 0) {
 			_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);