diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 8b7a7f5bd6..f3061e82a7 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2296,7 +2296,7 @@ Commander::run()
 		}
 
 		/* Check for failure detector status */
-		if (_failure_detector.update(_status)) {
+		if (_failure_detector.update(_status, _vehicle_control_mode)) {
 			_status.failure_detector_status = _failure_detector.getStatus();
 			_status_changed = true;
 
diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index 4983414d42..2799e2dab0 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -47,11 +47,11 @@ FailureDetector::FailureDetector(ModuleParams *parent) :
 {
 }
 
-bool FailureDetector::update(const vehicle_status_s &vehicle_status)
+bool FailureDetector::update(const vehicle_status_s &vehicle_status, const vehicle_control_mode_s &vehicle_control_mode)
 {
 	uint8_t previous_status = _status;
 
-	if (isAttitudeStabilized(vehicle_status)) {
+	if (vehicle_control_mode.flag_control_attitude_enabled) {
 		updateAttitudeStatus();
 
 		if (_param_fd_ext_ats_en.get()) {
@@ -69,23 +69,6 @@ bool FailureDetector::update(const vehicle_status_s &vehicle_status)
 	return _status != previous_status;
 }
 
-bool FailureDetector::isAttitudeStabilized(const vehicle_status_s &vehicle_status)
-{
-	bool attitude_is_stabilized{false};
-	const uint8_t vehicle_type = vehicle_status.vehicle_type;
-	const uint8_t nav_state = vehicle_status.nav_state;
-
-	if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
-		attitude_is_stabilized =  nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO;
-
-	} else if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
-		attitude_is_stabilized =  nav_state != vehicle_status_s::NAVIGATION_STATE_MANUAL &&
-					  nav_state != vehicle_status_s::NAVIGATION_STATE_ACRO;
-	}
-
-	return attitude_is_stabilized;
-}
-
 void FailureDetector::updateAttitudeStatus()
 {
 	vehicle_attitude_s attitude;
diff --git a/src/modules/commander/failure_detector/FailureDetector.hpp b/src/modules/commander/failure_detector/FailureDetector.hpp
index 959b6c145d..e158affa5f 100644
--- a/src/modules/commander/failure_detector/FailureDetector.hpp
+++ b/src/modules/commander/failure_detector/FailureDetector.hpp
@@ -48,11 +48,11 @@
 #include <px4_platform_common/module_params.h>
 #include <hysteresis/hysteresis.h>
 
-
 // subscriptions
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/esc_status.h>
 #include <uORB/topics/pwm_input.h>
@@ -73,11 +73,10 @@ class FailureDetector : public ModuleParams
 public:
 	FailureDetector(ModuleParams *parent);
 
-	bool update(const vehicle_status_s &vehicle_status);
+	bool update(const vehicle_status_s &vehicle_status, const vehicle_control_mode_s &vehicle_control_mode);
 	uint8_t getStatus() const { return _status; }
 
 private:
-	bool isAttitudeStabilized(const vehicle_status_s &vehicle_status);
 	void updateAttitudeStatus();
 	void updateExternalAtsStatus();
 	void updateEscsStatus(const vehicle_status_s &vehicle_status);