diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp
index 7b3e48c9dd..a5395b117b 100644
--- a/src/modules/commander/failsafe/framework.cpp
+++ b/src/modules/commander/failsafe/framework.cpp
@@ -720,7 +720,7 @@ bool FailsafeBase::deferFailsafes(bool enabled, int timeout_s)
 		return false;
 	}
 
-	if (!enabled && _failsafe_defer_started == 0) {
+	if (!enabled && _defer_failsafes && _failsafe_defer_started == 0) {
 		_current_delay = 0;
 	}