diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp
index d2d9642306..2407bae494 100644
--- a/src/modules/manual_control/ManualControl.cpp
+++ b/src/modules/manual_control/ManualControl.cpp
@@ -109,29 +109,7 @@ void ManualControl::Run()
 	if (_selector.setpoint().valid) {
 		_published_invalid_once = false;
 
-		// Arm gesture
-		const bool right_stick_centered = (fabsf(_selector.setpoint().chosen_input.x) < 0.1f)
-						  && (fabsf(_selector.setpoint().chosen_input.y) < 0.1f);
-		const bool stick_lower_right = (_selector.setpoint().chosen_input.z < 0.1f)
-					       && (_selector.setpoint().chosen_input.r > 0.9f);
-
-		const bool previous_stick_arm_hysteresis = _stick_arm_hysteresis.get_state();
-		_stick_arm_hysteresis.set_state_and_update(stick_lower_right && right_stick_centered, _selector.setpoint().timestamp);
-
-		if (!previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) {
-			sendActionRequest(action_request_s::ACTION_ARM, action_request_s::SOURCE_RC_STICK_GESTURE);
-		}
-
-		// Disarm gesture
-		const bool stick_lower_left = (_selector.setpoint().chosen_input.z < 0.1f)
-					      && (_selector.setpoint().chosen_input.r < -0.9f);
-
-		const bool previous_stick_disarm_hysteresis = _stick_disarm_hysteresis.get_state();
-		_stick_disarm_hysteresis.set_state_and_update(stick_lower_left && right_stick_centered, _selector.setpoint().timestamp);
-
-		if (!previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) {
-			sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_RC_STICK_GESTURE);
-		}
+		processStickArming(_selector.setpoint().chosen_input);
 
 		// User override by stick
 		const float dt_s = (now - _last_time) / 1e6f;
@@ -287,6 +265,30 @@ void ManualControl::Run()
 	perf_end(_loop_perf);
 }
 
+void ManualControl::processStickArming(const manual_control_input_s &input)
+{
+	// Arm gesture
+	const bool right_stick_centered = (fabsf(input.x) < 0.1f) && (fabsf(input.y) < 0.1f);
+	const bool stick_lower_right = (input.z < 0.1f) && (input.r > 0.9f);
+
+	const bool previous_stick_arm_hysteresis = _stick_arm_hysteresis.get_state();
+	_stick_arm_hysteresis.set_state_and_update(stick_lower_right && right_stick_centered, input.timestamp);
+
+	if (!previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) {
+		sendActionRequest(action_request_s::ACTION_ARM, action_request_s::SOURCE_RC_STICK_GESTURE);
+	}
+
+	// Disarm gesture
+	const bool stick_lower_left = (input.z < 0.1f) && (input.r < -0.9f);
+
+	const bool previous_stick_disarm_hysteresis = _stick_disarm_hysteresis.get_state();
+	_stick_disarm_hysteresis.set_state_and_update(stick_lower_left && right_stick_centered, input.timestamp);
+
+	if (!previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) {
+		sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_RC_STICK_GESTURE);
+	}
+}
+
 void ManualControl::evaluateModeSlot(uint8_t mode_slot)
 {
 	switch (mode_slot) {
diff --git a/src/modules/manual_control/ManualControl.hpp b/src/modules/manual_control/ManualControl.hpp
index 493c41756e..deff47a680 100644
--- a/src/modules/manual_control/ManualControl.hpp
+++ b/src/modules/manual_control/ManualControl.hpp
@@ -46,7 +46,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/Publication.hpp>
-#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/SubscriptionCallback.hpp>
 #include "ManualControlSelector.hpp"
 
@@ -118,6 +118,7 @@ private:
 	static constexpr int MAX_MANUAL_INPUT_COUNT = 3;
 
 	void Run() override;
+	void processStickArming(const manual_control_input_s &input);
 
 	void evaluateModeSlot(uint8_t mode_slot);
 	void sendActionRequest(int8_t action, int8_t source, int8_t mode = 0);