diff --git a/msg/FailsafeFlags.msg b/msg/FailsafeFlags.msg
index e67041a57a..b697b7085b 100644
--- a/msg/FailsafeFlags.msg
+++ b/msg/FailsafeFlags.msg
@@ -17,6 +17,7 @@ uint32 mode_req_offboard_signal
 uint32 mode_req_home_position
 uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded
 uint32 mode_req_prevent_arming    # if set, cannot arm while in this mode
+uint32 mode_req_manual_control
 uint32 mode_req_other             # other requirements, not covered above (for external modes)
 
 
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
index 7ae7614819..7f2e981532 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
@@ -143,6 +143,21 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_home_position);
 	}
 
+	if (reporter.failsafeFlags().manual_control_signal_lost && reporter.failsafeFlags().mode_req_manual_control != 0) {
+		/* EVENT
+		 * @description
+		 * Connect and enable stick input or use autonomous mode.
+		 * <profile name="dev">
+		 * Sticks can be enabled via <param>COM_RC_IN_MODE</param> parameter.
+		 * </profile>
+		 */
+		reporter.armingCheckFailure((NavModes)reporter.failsafeFlags().mode_req_manual_control,
+					    health_component_t::remote_control,
+					    events::ID("check_modes_manual_control"),
+					    events::Log::Critical, "No manual control input");
+		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_manual_control);
+	}
+
 	if (reporter.failsafeFlags().mode_req_other != 0) {
 		// Here we expect there is already an event reported for the failing check (this is for external modes)
 		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_other);
diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp
index fc48038867..9314f5ca84 100644
--- a/src/modules/commander/ModeUtil/mode_requirements.cpp
+++ b/src/modules/commander/ModeUtil/mode_requirements.cpp
@@ -56,19 +56,23 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	flags.mode_req_home_position = 0;
 	flags.mode_req_wind_and_flight_time_compliance = 0;
 	flags.mode_req_prevent_arming = 0;
+	flags.mode_req_manual_control = 0;
 	flags.mode_req_other = 0;
 
 	// NAVIGATION_STATE_MANUAL
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_MANUAL, flags.mode_req_manual_control);
 
 	// NAVIGATION_STATE_ALTCTL
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_angular_velocity);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_attitude);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_local_alt);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_ALTCTL, flags.mode_req_manual_control);
 
 	// NAVIGATION_STATE_POSCTL
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_angular_velocity);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_attitude);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_local_position_relaxed);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_manual_control);
 
 	if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
 		setRequirement(vehicle_status_s::NAVIGATION_STATE_POSCTL, flags.mode_req_global_position);
@@ -104,6 +108,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 
 	// NAVIGATION_STATE_ACRO
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_ACRO, flags.mode_req_angular_velocity);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_ACRO, flags.mode_req_manual_control);
 
 	// NAVIGATION_STATE_DESCEND
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_DESCEND, flags.mode_req_angular_velocity);
@@ -122,6 +127,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	// NAVIGATION_STATE_STAB
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_angular_velocity);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_attitude);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_STAB, flags.mode_req_manual_control);
 
 	// NAVIGATION_STATE_AUTO_TAKEOFF
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_angular_velocity);
diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp
index ac318e2602..9ef1a232c1 100644
--- a/src/modules/commander/failsafe/framework.cpp
+++ b/src/modules/commander/failsafe/framework.cpp
@@ -656,6 +656,7 @@ bool FailsafeBase::modeCanRun(const failsafe_flags_s &status_flags, uint8_t mode
 		(!status_flags.auto_mission_missing || ((status_flags.mode_req_mission & mode_mask) == 0)) &&
 		(!status_flags.offboard_control_signal_lost || ((status_flags.mode_req_offboard_signal & mode_mask) == 0)) &&
 		(!status_flags.home_position_invalid || ((status_flags.mode_req_home_position & mode_mask) == 0)) &&
+		(!status_flags.manual_control_signal_lost || ((status_flags.mode_req_manual_control & mode_mask) == 0)) &&
 		((status_flags.mode_req_other & mode_mask) == 0);
 }