diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 45a26620a1..b81c9c1d30 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -889,7 +889,7 @@ int commander_thread_main(int argc, char *argv[])
 	status.condition_landed = true;	// initialize to safe value
 	// We want to accept RC inputs as default
 	status.rc_input_blocked = false;
-	status.rc_input_off = vehicle_status_s::RC_IN_MODE_DEFAULT;
+	status.rc_input_mode = vehicle_status_s::RC_IN_MODE_DEFAULT;
 	status.main_state =vehicle_status_s::MAIN_STATE_MANUAL;
 	status.nav_state = vehicle_status_s::NAVIGATION_STATE_MANUAL;
 	status.arming_state = vehicle_status_s::ARMING_STATE_INIT;
@@ -1134,7 +1134,7 @@ int commander_thread_main(int argc, char *argv[])
 	}
 
 	// Run preflight check
-	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_off, !status.circuit_breaker_engaged_gpsfailure_check);
+	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !status.rc_input_mode, !status.circuit_breaker_engaged_gpsfailure_check);
 	if (!status.condition_system_sensors_initialized) {
 		set_tune_override(TONE_GPS_WARNING_TUNE); //sensor fail tune
 	}
@@ -1237,7 +1237,7 @@ int commander_thread_main(int argc, char *argv[])
 			param_get(_param_datalink_loss_timeout, &datalink_loss_timeout);
 			param_get(_param_rc_loss_timeout, &rc_loss_timeout);
 			param_get(_param_rc_in_off, &rc_in_off);
-			status.rc_input_off = rc_in_off;
+			status.rc_input_mode = rc_in_off;
 			param_get(_param_datalink_regain_timeout, &datalink_regain_timeout);
 			param_get(_param_ef_throttle_thres, &ef_throttle_thres);
 			param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
@@ -1311,7 +1311,7 @@ int commander_thread_main(int argc, char *argv[])
 
 					/* provide RC and sensor status feedback to the user */
 					(void)Commander::preflightCheck(mavlink_fd, true, true, true, true, chAirspeed,
-						!(status.rc_input_off == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
+						!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
 				}
 
 				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
@@ -1713,7 +1713,7 @@ int commander_thread_main(int argc, char *argv[])
 		} // no reset is done here on purpose, on geofence violation we want to stay in flighttermination
 
 		/* RC input check */
-		if (!(status.rc_input_off == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 &&
+		if (!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF) && !status.rc_input_blocked && sp_man.timestamp != 0 &&
 		    hrt_absolute_time() < sp_man.timestamp + (uint64_t)(rc_loss_timeout * 1e6f)) {
 			/* handle the case where RC signal was regained */
 			if (!status.rc_signal_found_once) {
@@ -2777,7 +2777,7 @@ void *commander_low_prio_loop(void *arg)
 						}
 
 						status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed,
-							!(status.rc_input_off == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
+							!(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status.circuit_breaker_engaged_gpsfailure_check);
 
 						arming_state_transition(&status, &safety, vehicle_status_s::ARMING_STATE_STANDBY, &armed, false /* fRunPreArmChecks */, mavlink_fd);
 
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 2225b00d35..bc8f833aef 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -197,7 +197,7 @@ PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
 PARAM_DEFINE_INT32(COM_AUTOS_PAR, 1);
 
 /**
- * Disable RC control input
+ * RC control input mode
  *
  * The default value of 0 requires a valid RC transmitter setup.
  * Setting this to 1 disables RC input handling and the associated checks. A value of
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 0dedd22282..a2086e9577 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -692,5 +692,5 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
 		checkAirspeed = true;
 	}
 
-	return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_off == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true);
+	return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true);
 }