diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index d0148d3f19..7bfc203e5c 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -3363,6 +3363,9 @@ set_control_mode()
 
 		control_mode.flag_control_rattitude_enabled = false;
 
+		control_mode.flag_control_acceleration_enabled = !offboard_control_mode.ignore_acceleration_force && 
+		  !status.in_transition_mode; 
+
 		control_mode.flag_control_velocity_enabled = (!offboard_control_mode.ignore_velocity ||
 			!offboard_control_mode.ignore_position) && !status.in_transition_mode && 
 			!control_mode.flag_control_acceleration_enabled;