diff --git a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
index dbcc2af067..b8141e2533 100644
--- a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
+++ b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
@@ -288,7 +288,6 @@
 1	1	COM_ARM_WO_GPS	1	6
 1	1	COM_CPU_MAX	95.000000000000000000	9
 1	1	COM_DISARM_LAND	2.000000000000000000	9
-1	1	COM_DISARM_MAN	1	6
 1	1	COM_DISARM_PRFLT	10.000000000000000000	9
 1	1	COM_DL_LOSS_T	10	6
 1	1	COM_FAIL_ACT_T	5.000000000000000000	9
diff --git a/docs/en/advanced_config/prearm_arm_disarm.md b/docs/en/advanced_config/prearm_arm_disarm.md
index a8fdb90bef..1018d75223 100644
--- a/docs/en/advanced_config/prearm_arm_disarm.md
+++ b/docs/en/advanced_config/prearm_arm_disarm.md
@@ -52,12 +52,11 @@ RC controllers will use different sticks for throttle and yaw [based on their mo
   - _Arm:_ Left-stick to right, right-stick to bottom.
   - _Disarm:_ Left-stick to left, right-stick to the bottom.
 
-Note that by default ([COM_DISARM_MAN](#COM_DISARM_MAN)) you can also disarm in flight using gestures/buttons: you may choose to disable this to avoid accidental disarming.
+Note that disarming in any altitude controlled mode is only possible after landing was detected. In manually piloted modes without altitude control Stabilized, Acro, Manual it's always possible to disarm using gestures or buttons also in flight.
 
 | Parameter                                                                                                | Description                                                                                                          |
 | -------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------- |
 | <a id="MAN_ARM_GESTURE"></a>[MAN_ARM_GESTURE](../advanced_config/parameter_reference.md#MAN_ARM_GESTURE) | Enable arm/disarm stick guesture. `0`: Disabled, `1`: Enabled (default).                                             |
-| <a id="COM_DISARM_MAN"></a>[COM_DISARM_MAN](../advanced_config/parameter_reference.md#COM_DISARM_MAN)    | Enable disarming in flight via switch/stick/button in MC manual thrust modes. `0`: Disabled, `1`: Enabled (default). |
 
 ## Arming Button/Switch {#arm_disarm_switch}
 
@@ -89,7 +88,7 @@ The feature is configured using the following timeouts.
 | Parameter                                                                                                   | Description                                                                     |
 | ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
 | <a id="COM_DISARM_LAND"></a>[COM_DISARM_LAND](../advanced_config/parameter_reference.md#COM_DISARM_LAND)    | Time-out for auto disarm after landing. Default: 2s (-1 to disable).            |
-| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Time-out for auto disarm if too slow to takeoff. Default: 10s (<=0 to disable). |
+| <a id="COM_DISARM_PRFLT"></a>[COM_DISARM_PRFLT](../advanced_config/parameter_reference.md#COM_DISARM_PRFLT) | Time-out for auto disarm if too slow to takeoff. Default: 10s (-1 to disable). |
 
 ## Auto-Arming on Boot
 
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index efbdc1819f..57bc709d01 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -710,7 +710,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
 					     || (calling_reason == arm_disarm_reason_t::rc_switch)
 					     || (calling_reason == arm_disarm_reason_t::rc_button);
 
-		if (!landed && !(mc_manual_thrust_mode && commanded_by_rc && _param_com_disarm_man.get())) {
+		if (!landed && !(mc_manual_thrust_mode && commanded_by_rc)) {
 			if (calling_reason != arm_disarm_reason_t::stick_gesture) {
 				mavlink_log_critical(&_mavlink_log_pub, "Disarming denied: not landed\t");
 				events::send(events::ID("commander_disarm_denied_not_landed"),
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index bfaa12b20f..1eb3024d93 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -337,7 +337,6 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::COM_DISARM_LAND>)  _param_com_disarm_land,
 		(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_prflt,
-		(ParamBool<px4::params::COM_DISARM_MAN>)    _param_com_disarm_man,
 		(ParamInt<px4::params::COM_DL_LOSS_T>)      _param_com_dl_loss_t,
 		(ParamInt<px4::params::COM_HLDL_LOSS_T>)    _param_com_hldl_loss_t,
 		(ParamBool<px4::params::COM_HOME_EN>)       _param_com_home_en,
diff --git a/src/modules/commander/commander_params.yaml b/src/modules/commander/commander_params.yaml
index 392e4eabf1..2e130a7291 100644
--- a/src/modules/commander/commander_params.yaml
+++ b/src/modules/commander/commander_params.yaml
@@ -139,18 +139,6 @@ parameters:
           1: Arming/disarming triggers when holding the momentary button down like the stick gesture.
       type: boolean
       default: 0
-    COM_DISARM_MAN:
-      description:
-        short: Allow disarming in manual thrust modes
-        long: |-
-          Allow disarming via switch/stick/button on multicopters in manual thrust modes
-
-          0: Disallow disarming when not landed
-          1: Allow disarming in multicopter flight in modes where
-          the thrust is directly controlled by thr throttle stick
-          e.g. Stabilized, Acro
-      type: boolean
-      default: 1
     COM_LOW_BAT_ACT:
       description:
         short: Battery failsafe mode