diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index fa8d5ad48a..f7321a966d 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -487,7 +487,7 @@ controls_tick()
 	 * Override is enabled if either the hardcoded channel / value combination
 	 * is selected, or the AP has requested it.
 	 */
-	if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
+	if ((!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK)) &&
 	    (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
 	    !(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {