diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 84aade3eb5..0352ab8c61 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3093,9 +3093,9 @@ Commander::reset_posvel_validity()
 
 bool
 Commander::check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
-				 const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state)
+				 const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us,
+				 const bool was_valid)
 {
-	const bool was_valid = *valid_state;
 	bool valid = was_valid;
 
 	// constrain probation times
@@ -3141,7 +3141,6 @@ Commander::check_posvel_validity(const bool data_valid, const float data_accurac
 
 	if (was_valid != valid) {
 		_status_changed = true;
-		*valid_state = valid;
 	}
 
 	return valid;
@@ -3847,17 +3846,17 @@ void Commander::UpdateEstimateValidity()
 		}
 	}
 
-	// condition_global_position_valid
-	check_posvel_validity(lpos.xy_valid && !_nav_test_failed, gpos.eph, _param_com_pos_fs_eph.get(), gpos.timestamp,
-			      &_last_gpos_fail_time_us, &_gpos_probation_time_us, &_status_flags.condition_global_position_valid);
+	_status_flags.condition_global_position_valid =
+		check_posvel_validity(lpos.xy_valid && !_nav_test_failed, gpos.eph, _param_com_pos_fs_eph.get(), gpos.timestamp,
+				      &_last_gpos_fail_time_us, &_gpos_probation_time_us, _status_flags.condition_global_position_valid);
 
-	// condition_local_position_valid
-	check_posvel_validity(lpos.xy_valid && !_nav_test_failed, lpos.eph, lpos_eph_threshold_adj, lpos.timestamp,
-			      &_last_lpos_fail_time_us, &_lpos_probation_time_us, &_status_flags.condition_local_position_valid);
+	_status_flags.condition_local_position_valid =
+		check_posvel_validity(lpos.xy_valid && !_nav_test_failed, lpos.eph, lpos_eph_threshold_adj, lpos.timestamp,
+				      &_last_lpos_fail_time_us, &_lpos_probation_time_us, _status_flags.condition_local_position_valid);
 
-	// condition_local_velocity_valid
-	check_posvel_validity(lpos.v_xy_valid && !_nav_test_failed, lpos.evh, _param_com_vel_fs_evh.get(), lpos.timestamp,
-			      &_last_lvel_fail_time_us, &_lvel_probation_time_us, &_status_flags.condition_local_velocity_valid);
+	_status_flags.condition_local_velocity_valid =
+		check_posvel_validity(lpos.v_xy_valid && !_nav_test_failed, lpos.evh, _param_com_vel_fs_evh.get(), lpos.timestamp,
+				      &_last_lvel_fail_time_us, &_lvel_probation_time_us, _status_flags.condition_local_velocity_valid);
 }
 
 void
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 82eefc5184..502c246238 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -132,7 +132,7 @@ private:
 
 	bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
 				   const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us,
-				   bool *valid_state);
+				   const bool was_valid);
 
 	void control_status_leds(bool changed, const uint8_t battery_warning);