diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg
index 7810554387..8036534340 100644
--- a/msg/vehicle_status_flags.msg
+++ b/msg/vehicle_status_flags.msg
@@ -45,7 +45,6 @@ uint16 OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK = 32
 uint16 RC_SIGNAL_FOUND_ONCE_MASK = 64
 uint16 RC_INPUT_BLOCKED_MASK = 256
 uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
-uint16 VTOL_TRANSITION_FAILURE_CMD_MASK = 2048
 uint16 GPS_FAILURE_MASK = 4096
 
 # 0x0001 usb_connected: status of the USB power supply
@@ -57,7 +56,6 @@ uint16 GPS_FAILURE_MASK = 4096
 # 0x0040 rc_signal_found_once
 # 0x0100 rc_input_blocked: set if RC input should be ignored temporarily
 # 0x0400 vtol_transition_failure: Set to true if vtol transition failed
-# 0x0800 vtol_transition_failure_cmd: Set to true if vtol transition failure mode is commanded
 # 0x1000 gps_failure: Set to true if a gps failure is detected
 
 uint16 other_flags
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index ad4973a34b..d9b9da5773 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -959,7 +959,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
 
 				/* param2 is currently used for other failsafe modes */
 				status_local->engine_failure_cmd = false;
-				status_flags.vtol_transition_failure_cmd = false;
 
 				if ((int)cmd->param2 <= 0) {
 					/* reset all commanded failure modes */
@@ -969,11 +968,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
 					/* trigger engine failure mode */
 					status_local->engine_failure_cmd = true;
 					warnx("engine failure mode commanded");
-
-				} else if ((int)cmd->param2 == 5) {
-					/* trigger vtol transition failure mode */
-					status_flags.vtol_transition_failure_cmd = true;
-					warnx("vtol transition failure mode commanded");
 				}
 
 			} else {
@@ -2041,7 +2035,6 @@ Commander::run()
 				status.in_transition_mode = vtol_status.vtol_in_trans_mode;
 				status.in_transition_to_fw = vtol_status.in_transition_to_fw;
 				status_flags.vtol_transition_failure = vtol_status.vtol_transition_failsafe;
-				status_flags.vtol_transition_failure_cmd = vtol_status.vtol_transition_failsafe;
 
 				armed.soft_stop = !status.is_rotary_wing;
 			}
@@ -4501,9 +4494,6 @@ void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status
 	if (status_flags.vtol_transition_failure) {
 		v_flags.other_flags |= vehicle_status_flags_s::VTOL_TRANSITION_FAILURE_MASK;
 	}
-	if (status_flags.vtol_transition_failure_cmd) {
-		v_flags.other_flags |= vehicle_status_flags_s::VTOL_TRANSITION_FAILURE_CMD_MASK;
-	}
 	if (status_flags.gps_failure) {
 		v_flags.other_flags |= vehicle_status_flags_s::GPS_FAILURE_MASK;
 	}
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 0a81cbd65e..3decaf112e 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -672,9 +672,6 @@ bool set_nav_state(struct vehicle_status_s *status,
 		if (status->engine_failure_cmd) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
 
-		} else if (status_flags->vtol_transition_failure_cmd) {
-			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
-
 		} else if (status_flags->gps_failure) {
 			if (status->is_rotary_wing) {
 				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 7a20b58433..54ca219b52 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -105,7 +105,6 @@ struct status_flags_s {
     bool rc_signal_found_once;
     bool rc_input_blocked;                                // set if RC input should be ignored temporarily
     bool vtol_transition_failure;                        // Set to true if vtol transition failed
-    bool vtol_transition_failure_cmd;                // Set to true if vtol transition failure mode is commanded
     bool gps_failure;                                // Set to true if a gps failure is detected
 };