diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 57bc709d01..fcc6a8bf48 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -654,16 +654,6 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 					return TRANSITION_DENIED;
 				}
 			}
-
-		} else if (calling_reason == arm_disarm_reason_t::stick_gesture
-			   || calling_reason == arm_disarm_reason_t::rc_switch
-			   || calling_reason == arm_disarm_reason_t::rc_button) {
-
-			mavlink_log_critical(&_mavlink_log_pub, "Arming denied: switch to manual mode first\t");
-			events::send(events::ID("commander_arm_denied_not_manual"), {events::Log::Critical, events::LogInternal::Info},
-				     "Arming denied: switch to manual mode first");
-			tune_negative(true);
-			return TRANSITION_DENIED;
 		}
 
 		_health_and_arming_checks.update(false, true);