diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg
index 018082e7ae..5d32723221 100644
--- a/msg/vehicle_status_flags.msg
+++ b/msg/vehicle_status_flags.msg
@@ -43,7 +43,6 @@ uint16 OFFBOARD_CONTROL_SIGNAL_WEAK_MASK = 8
 uint16 OFFBOARD_CONTROL_SET_BY_COMMAND_MASK = 16
 uint16 OFFBOARD_CONTROL_LOSS_TIMEOUT_MASK = 32
 uint16 RC_SIGNAL_FOUND_ONCE_MASK = 64
-uint16 RC_SIGNAL_LOST_CMD_MASK = 128
 uint16 RC_INPUT_BLOCKED_MASK = 256
 uint16 DATA_LINK_LOST_CMD_MASK = 512
 uint16 VTOL_TRANSITION_FAILURE_MASK = 1024
@@ -57,7 +56,6 @@ uint16 GPS_FAILURE_MASK = 4096
 # 0x0010 offboard_control_set_by_command: true if the offboard mode was set by a mavlink command and should not be overridden by RC
 # 0x0020 offboard_control_loss_timeout: true if offboard is lost for a certain amount of time
 # 0x0040 rc_signal_found_once
-# 0x0080 rc_signal_lost_cmd: true if RC lost mode is commanded
 # 0x0100 rc_input_blocked: set if RC input should be ignored temporarily
 # 0x0200 data_link_lost_cmd: datalink to GCS lost mode commanded
 # 0x0400 vtol_transition_failure: Set to true if vtol transition failed
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 52962e9ca5..adc58215b6 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -960,7 +960,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
 				/* param2 is currently used for other failsafe modes */
 				status_local->engine_failure_cmd = false;
 				status_flags.data_link_lost_cmd = false;
-				status_flags.rc_signal_lost_cmd = false;
 				status_flags.vtol_transition_failure_cmd = false;
 
 				if ((int)cmd->param2 <= 0) {
@@ -977,11 +976,6 @@ Commander::handle_command(vehicle_status_s *status_local, const safety_s *safety
 					status_flags.data_link_lost_cmd = true;
 					warnx("data link loss mode commanded");
 
-				} else if ((int)cmd->param2 == 4) {
-					/* trigger rc loss mode */
-					status_flags.rc_signal_lost_cmd = true;
-					warnx("RC loss mode commanded");
-
 				} else if ((int)cmd->param2 == 5) {
 					/* trigger vtol transition failure mode */
 					status_flags.vtol_transition_failure_cmd = true;
@@ -2970,8 +2964,8 @@ Commander::run()
 			     internal_state.main_state == commander_state_s::MAIN_STATE_STAB ||
 			     internal_state.main_state == commander_state_s::MAIN_STATE_ALTCTL ||
 			     internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL) &&
-			    ((status.rc_signal_lost && status_flags.gps_failure) ||
-			     (status_flags.rc_signal_lost_cmd))) {
+			    ((status.rc_signal_lost && status_flags.gps_failure))) {
+
 				armed.force_failsafe = true;
 				status_changed = true;
 				static bool flight_termination_printed = false;
@@ -4507,9 +4501,6 @@ void publish_status_flags(orb_advert_t &vehicle_status_flags_pub, vehicle_status
 	if (status_flags.rc_signal_found_once) {
 		v_flags.other_flags |= vehicle_status_flags_s::RC_SIGNAL_FOUND_ONCE_MASK;
 	}
-	if (status_flags.rc_signal_lost_cmd) {
-		v_flags.other_flags |= vehicle_status_flags_s::RC_SIGNAL_LOST_CMD_MASK;
-	}
 	if (status_flags.rc_input_blocked) {
 		v_flags.other_flags |= vehicle_status_flags_s::RC_INPUT_BLOCKED_MASK;
 	}
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 61d80b24a7..d39b3965ad 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -584,7 +584,7 @@ bool set_nav_state(struct vehicle_status_s *status,
 
 	const bool data_link_loss_act_configured = data_link_loss_act > link_loss_actions_t::DISABLED;
 	const bool rc_loss_act_configured = rc_loss_act > link_loss_actions_t::DISABLED;
-	const bool rc_lost = rc_loss_act_configured && (status->rc_signal_lost || status_flags->rc_signal_lost_cmd);
+	const bool rc_lost = rc_loss_act_configured && (status->rc_signal_lost);
 
 	bool is_armed = (status->arming_state == vehicle_status_s::ARMING_STATE_ARMED
 			 || status->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR);
@@ -675,9 +675,6 @@ bool set_nav_state(struct vehicle_status_s *status,
 		} else if (status_flags->data_link_lost_cmd) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
 
-		} else if (status_flags->rc_signal_lost_cmd) {
-			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
-
 		} else if (status_flags->vtol_transition_failure_cmd) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
 
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 63821d30b4..dd76eb8142 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -103,7 +103,6 @@ struct status_flags_s {
     bool offboard_control_set_by_command;                // true if the offboard mode was set by a mavlink command and should not be overridden by RC
     bool offboard_control_loss_timeout;                // true if offboard is lost for a certain amount of time
     bool rc_signal_found_once;
-    bool rc_signal_lost_cmd;                        // true if RC lost mode is commanded
     bool rc_input_blocked;                                // set if RC input should be ignored temporarily
     bool data_link_lost_cmd;                        // datalink to GCS lost mode commanded
     bool vtol_transition_failure;                        // Set to true if vtol transition failed