diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index cd750783c0..a153a1d3b4 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -194,6 +194,7 @@ static float max_ekf_dang_bias = 3.5e-4f;
 /* pre-flight IMU consistency checks */
 static float max_imu_acc_diff = 0.7f;
 static float max_imu_gyr_diff = 0.09f;
+static float min_stick_change = 0.25f;
 
 static struct vehicle_status_s status = {};
 static struct vehicle_roi_s _roi = {};
@@ -229,6 +230,7 @@ static uint64_t rc_signal_lost_timestamp;		// Time at which the RC reception was
 static float avionics_power_rail_voltage;		// voltage of the avionics power rail
 
 static bool can_arm_without_gps = false;
+static bool position_lock_gained = false;
 
 
 /**
@@ -1083,7 +1085,9 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 	case vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF: {
 			/* ok, home set, use it to take off */
 			if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_TAKEOFF, main_state_prev, &status_flags, &internal_state)) {
-				mavlink_and_console_log_info(&mavlink_log_pub, "Taking off");
+				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
+
+			} else if (internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_TAKEOFF) {
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
@@ -1298,6 +1302,7 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_autosave_params = param_find("COM_AUTOS_PAR");
 	param_t _param_rc_in_off = param_find("COM_RC_IN_MODE");
 	param_t _param_rc_arm_hyst = param_find("COM_RC_ARM_HYST");
+	param_t _param_min_stick_change = param_find("COM_RC_STICK_OV");
 	param_t _param_eph = param_find("COM_HOME_H_T");
 	param_t _param_epv = param_find("COM_HOME_V_T");
 	param_t _param_geofence_action = param_find("GF_ACTION");
@@ -1773,6 +1778,9 @@ int commander_thread_main(int argc, char *argv[])
 			param_get(_param_rc_in_off, &rc_in_off);
 			status.rc_input_mode = rc_in_off;
 			param_get(_param_rc_arm_hyst, &rc_arm_hyst);
+			param_get(_param_min_stick_change, &min_stick_change);
+			// percentage (* 0.01) needs to be doubled because RC total interval is 2, not 1
+			min_stick_change *= 0.02f;
 			rc_arm_hyst *= COMMANDER_MONITORING_LOOPSPERMSEC;
 			param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
 			param_get(_param_ef_throttle_thres, &ef_throttle_thres);
@@ -2498,15 +2506,34 @@ int commander_thread_main(int argc, char *argv[])
 			main_state_before_rtl == commander_state_s::MAIN_STATE_RATTITUDE ||
 			main_state_before_rtl == commander_state_s::MAIN_STATE_STAB)) {
 
-			// transition to previous state if sticks are increased
-			const float min_stick_change = 0.2f;
+			// transition to previous state if sticks are touched
 			if ((_last_sp_man.timestamp != sp_man.timestamp) &&
 				((fabsf(sp_man.x) - fabsf(_last_sp_man.x) > min_stick_change) ||
 				 (fabsf(sp_man.y) - fabsf(_last_sp_man.y) > min_stick_change) ||
 				 (fabsf(sp_man.z) - fabsf(_last_sp_man.z) > min_stick_change) ||
 				 (fabsf(sp_man.r) - fabsf(_last_sp_man.r) > min_stick_change))) {
 
-				main_state_transition(&status, main_state_before_rtl, main_state_prev, &status_flags, &internal_state);
+				// revert to position control in any case
+				main_state_transition(&status, commander_state_s::MAIN_STATE_POSCTL, main_state_prev, &status_flags, &internal_state);
+				mavlink_log_critical(&mavlink_log_pub, "Aborted RTL, returned control to pilot");
+			}
+		}
+
+		// abort landing or auto or loiter if sticks are moved significantly
+		if (internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
+			internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_MISSION ||
+			internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LOITER ||
+			internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_RTL) {
+			// transition to previous state if sticks are touched
+			if ((_last_sp_man.timestamp != sp_man.timestamp) &&
+				((fabsf(sp_man.x) - fabsf(_last_sp_man.x) > min_stick_change) ||
+				 (fabsf(sp_man.y) - fabsf(_last_sp_man.y) > min_stick_change) ||
+				 (fabsf(sp_man.z) - fabsf(_last_sp_man.z) > min_stick_change) ||
+				 (fabsf(sp_man.r) - fabsf(_last_sp_man.r) > min_stick_change))) {
+
+				// revert to position control in any case
+				main_state_transition(&status, commander_state_s::MAIN_STATE_POSCTL, main_state_prev, &status_flags, &internal_state);
+				mavlink_log_critical(&mavlink_log_pub, "Autopilot off, returned control to pilot");
 			}
 		}
 
@@ -2850,6 +2877,19 @@ int commander_thread_main(int argc, char *argv[])
 			}
 		}
 
+		/* check if we are disarmed and there is a better mode to wait in */
+		if (!armed.armed) {
+
+			/* if there is no radio control but GPS lock the user might want to fly using
+			 * just a tablet. Since the RC will force its mode switch setting on connecting
+			 * we can as well just wait in a hold mode which enables tablet control.
+			 */
+			if (status.rc_signal_lost && (internal_state.main_state == commander_state_s::MAIN_STATE_MANUAL)
+				&& status_flags.condition_home_position_valid) {
+				(void)main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LOITER, main_state_prev, &status_flags, &internal_state);
+			}
+		}
+
 		/* handle commands last, as the system needs to be updated to handle them */
 		orb_check(cmd_sub, &updated);
 
@@ -2924,12 +2964,17 @@ int commander_thread_main(int argc, char *argv[])
 		/* First time home position update - but only if disarmed */
 		if (!status_flags.condition_home_position_valid && !armed.armed) {
 			commander_set_home_position(home_pub, _home, local_position, global_position, attitude);
+			position_lock_gained = true;
 		}
 
 		/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
 		else if (((!was_armed && armed.armed) || (was_landed && !land_detector.landed)) &&
 			(now > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) {
 			commander_set_home_position(home_pub, _home, local_position, global_position, attitude);
+			position_lock_gained = false;
+
+		} else {
+			position_lock_gained = false;
 		}
 
 		was_armed = armed.armed;
@@ -3267,7 +3312,7 @@ set_main_state_rc(struct vehicle_status_s *status_local)
 	// feature, just in case offboard control goes crazy.
 
 	/* manual setpoint has not updated, do not re-evaluate it */
-	if (((_last_sp_man.timestamp != 0) && (_last_sp_man.timestamp == sp_man.timestamp)) ||
+	if ((((_last_sp_man.timestamp != 0) && (_last_sp_man.timestamp == sp_man.timestamp)) ||
 		((_last_sp_man.offboard_switch == sp_man.offboard_switch) &&
 		 (_last_sp_man.return_switch == sp_man.return_switch) &&
 		 (_last_sp_man.mode_switch == sp_man.mode_switch) &&
@@ -3275,7 +3320,8 @@ set_main_state_rc(struct vehicle_status_s *status_local)
 		 (_last_sp_man.rattitude_switch == sp_man.rattitude_switch) &&
 		 (_last_sp_man.posctl_switch == sp_man.posctl_switch) &&
 		 (_last_sp_man.loiter_switch == sp_man.loiter_switch) &&
-		 (_last_sp_man.mode_slot == sp_man.mode_slot))) {
+		 (_last_sp_man.mode_slot == sp_man.mode_slot)))
+		&& !position_lock_gained) {
 
 		// update these fields for the geofence system
 
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 509e3a8000..2de6c6288f 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -178,6 +178,21 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
  */
 PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
 
+/**
+ * RC stick override threshold
+ *
+ * If an RC stick is moved more than by this amount the system will interpret this as
+ * override request by the pilot.
+ *
+ * @group Commander
+ # @unit %
+ * @min 5
+ * @max 40
+ * @decimal 0
+ * @increment 0.05
+ */
+PARAM_DEFINE_FLOAT(COM_RC_STICK_OV, 12.0f);
+
 /**
  * Home set horizontal threshold
  *