diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 01dbfe6288..560686831f 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1189,6 +1189,7 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_disarm_land = param_find("COM_DISARM_LAND");
 	param_t _param_low_bat_act = param_find("COM_LOW_BAT_ACT");
 	param_t _param_offboard_loss_timeout = param_find("COM_OF_LOSS_T");
+	param_t _param_arm_without_gps = param_find("COM_ARM_WO_GPS");
 
 	param_t _param_fmode_1 = param_find("COM_FLTMODE1");
 	param_t _param_fmode_2 = param_find("COM_FLTMODE2");
@@ -1500,8 +1501,10 @@ int commander_thread_main(int argc, char *argv[])
 	// Run preflight check
 	int32_t rc_in_off = 0;
 	bool hotplug_timeout = hrt_elapsed_time(&commander_boot_timestamp) > HOTPLUG_SENS_TIMEOUT;
+	int32_t arm_without_gps = 0;
 	param_get(_param_autostart_id, &autostart_id);
 	param_get(_param_rc_in_off, &rc_in_off);
+	param_get(_param_arm_without_gps, &arm_without_gps);
 	status.rc_input_mode = rc_in_off;
 	if (is_hil_setup(autostart_id)) {
 		// HIL configuration selected: real sensors will be disabled
@@ -1511,7 +1514,7 @@ int commander_thread_main(int argc, char *argv[])
 			// sensor diagnostics done continuously, not just at boot so don't warn about any issues just yet
 			status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true,
 				checkAirspeed, (status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT),
-				!status_flags.circuit_breaker_engaged_gpsfailure_check, false);
+				(arm_without_gps == 0), false);
 			set_tune_override(TONE_STARTUP_TUNE); //normal boot tune
 	}
 
@@ -1627,6 +1630,7 @@ int commander_thread_main(int argc, char *argv[])
 			param_get(_param_offboard_loss_timeout, &offboard_loss_timeout);
 			param_get(_param_offboard_loss_act, &offboard_loss_act);
 			param_get(_param_offboard_loss_rc_act, &offboard_loss_rc_act);
+			param_get(_param_arm_without_gps, &arm_without_gps);
 
 			/* Autostart id */
 			param_get(_param_autostart_id, &autostart_id);
@@ -1739,7 +1743,7 @@ int commander_thread_main(int argc, char *argv[])
 					} else {
 						/* check sensors also */
 						(void)Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, chAirspeed,
-								(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), !status_flags.circuit_breaker_engaged_gpsfailure_check, hotplug_timeout);
+								(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_DEFAULT), (arm_without_gps == 0), hotplug_timeout);
 					}
 				}
 
@@ -3723,7 +3727,7 @@ void *commander_low_prio_loop(void *arg)
 						}
 
 						status_flags.condition_system_sensors_initialized = Commander::preflightCheck(&mavlink_log_pub, true, true, true, true, checkAirspeed,
-							!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), !status_flags.circuit_breaker_engaged_gpsfailure_check, hotplug_timeout);
+							!(status.rc_input_mode >= vehicle_status_s::RC_IN_MODE_OFF), false, hotplug_timeout);
 
 						arming_state_transition(&status,
 									&battery,
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index fc9fcf5372..83d67a1264 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -262,6 +262,19 @@ PARAM_DEFINE_INT32(COM_RC_ARM_HYST, 1000);
  */
 PARAM_DEFINE_INT32(COM_DISARM_LAND, 0);
 
+/**
+ * Allow arming without GPS
+ *
+ * The default allows to arm the vehicle without GPS signal.
+ *
+ * @group Commander
+ * @min 0
+ * @max 1
+ * @value 0 Don't allow arming without GPS
+ * @value 1 Allow arming without GPS
+ */
+PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
+
 /**
  * Battery failsafe mode
  *