diff --git a/src/modules/commander/ManualControl.cpp b/src/modules/commander/ManualControl.cpp
index a9b55a3fc9..8c7733187c 100644
--- a/src/modules/commander/ManualControl.cpp
+++ b/src/modules/commander/ManualControl.cpp
@@ -95,15 +95,20 @@ bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mo
 {
 	bool ret = false;
 
+	// no switch or button is mapped
+	const bool use_stick = manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_NONE;
+	// arm switch mapped and "switch is button" configured
+	const bool use_button = !use_stick && _param_com_arm_swisbtn.get();
+	// arm switch mapped and "switch_is_button" configured
+	const bool use_switch = !use_stick && !use_button;
+
 	const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
-	const bool arm_switch_or_button_mapped =
-		manual_control_switches.arm_switch != manual_control_switches_s::SWITCH_POS_NONE;
-	const bool arm_button_pressed = _param_arm_switch_is_button.get()
-					&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
-	const bool stick_in_lower_left = _manual_control_setpoint.r < -.9f
+	const bool stick_in_lower_left = use_stick
 					 && isThrottleLow()
-					 && !arm_switch_or_button_mapped;
-	const bool arm_switch_to_disarm_transition = !_param_arm_switch_is_button.get()
+					 && _manual_control_setpoint.r < -.9f;
+	const bool arm_button_pressed = (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON)
+					&& use_button;
+	const bool arm_switch_to_disarm_transition = use_switch
 			&& (_last_manual_control_switches_arm_switch == manual_control_switches_s::SWITCH_POS_ON)
 			&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF);
 	const bool mc_manual_thrust_mode = vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
@@ -136,16 +141,20 @@ bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode,
 {
 	bool ret = false;
 
-	const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
-	const bool arm_switch_or_button_mapped =
-		manual_control_switches.arm_switch != manual_control_switches_s::SWITCH_POS_NONE;
-	const bool arm_button_pressed = _param_arm_switch_is_button.get()
-					&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
-	const bool stick_in_lower_right = _manual_control_setpoint.r > .9f
-					  && isThrottleLow()
-					  && !arm_switch_or_button_mapped;
+	// no switch or button is mapped
+	const bool use_stick = manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_NONE;
+	// arm switch mapped and "switch is button" configured
+	const bool use_button = !use_stick && _param_com_arm_swisbtn.get();
+	// arm switch mapped and "switch_is_button" configured
+	const bool use_switch = !use_stick && !use_button;
 
-	const bool arm_switch_to_arm_transition = !_param_arm_switch_is_button.get()
+	const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+	const bool stick_in_lower_right = use_stick
+					  && isThrottleLow()
+					  && _manual_control_setpoint.r > .9f;
+	const bool arm_button_pressed = use_button
+					&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
+	const bool arm_switch_to_arm_transition = use_switch
 			&& (_last_manual_control_switches_arm_switch == manual_control_switches_s::SWITCH_POS_OFF)
 			&& (manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON);
 
diff --git a/src/modules/commander/ManualControl.hpp b/src/modules/commander/ManualControl.hpp
index d4f9810c99..b174fba7c5 100644
--- a/src/modules/commander/ManualControl.hpp
+++ b/src/modules/commander/ManualControl.hpp
@@ -88,7 +88,7 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
 		(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
-		(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_arm_switch_is_button,
+		(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_com_arm_swisbtn,
 		(ParamBool<px4::params::COM_REARM_GRACE>) _param_com_rearm_grace,
 		(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
 		(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index ebfb28da49..238f3aa45e 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -313,10 +313,11 @@ PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f);
 PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
 
 /**
- * Arm switch is only a button
+ * Arm switch is a momentary button
  *
- * The default uses the arm switch as real switch.
- * If parameter set button gets handled like stick arming.
+ * 0: Arming/disarming triggers on switch transition.
+ * 1: Arming/disarming triggers when holding the momentary button down
+ * for COM_RC_ARM_HYST like the stick gesture.
  *
  * @group Commander
  * @boolean