diff --git a/src/modules/manual_control/ManualControlSelector.cpp b/src/modules/manual_control/ManualControlSelector.cpp
index 9029e43144..df6f8544b8 100644
--- a/src/modules/manual_control/ManualControlSelector.cpp
+++ b/src/modules/manual_control/ManualControlSelector.cpp
@@ -57,29 +57,20 @@ void ManualControlSelector::update_manual_control_input(uint64_t now, const manu
 	// If previous setpoint is timed out, set it invalid, so it can get replaced below.
 	update_time_only(now);
 
-	if (_rc_in_mode == 0 && input.data_source == manual_control_input_s::SOURCE_RC) {
-		_setpoint = setpoint_from_input(input);
-		_setpoint.valid = true;
-		_instance = instance;
-
-	} else if (_rc_in_mode == 1 && (input.data_source == manual_control_input_s::SOURCE_MAVLINK_0
-					|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_1
-					|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_2
-					|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_3
-					|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_4
-					|| input.data_source == manual_control_input_s::SOURCE_MAVLINK_5)) {
-
-		// We only stick to the first discovered mavlink channel.
-		if (_setpoint.chosen_input.data_source == input.data_source || !_setpoint.valid) {
-			_setpoint = setpoint_from_input(input);
-			_setpoint.valid = true;
-			_instance = instance;
-		}
-
-	} else if (_rc_in_mode == 3) {
-
-		// We only stick to the first discovered mavlink channel.
-		if (_setpoint.chosen_input.data_source == input.data_source || !_setpoint.valid) {
+	const bool source_rc_matched = (_rc_in_mode == 0) && (input.data_source == manual_control_input_s::SOURCE_RC);
+	const bool source_mavlink_matched = (_rc_in_mode == 1) &&
+					    (input.data_source == manual_control_input_s::SOURCE_MAVLINK_0
+					     || input.data_source == manual_control_input_s::SOURCE_MAVLINK_1
+					     || input.data_source == manual_control_input_s::SOURCE_MAVLINK_2
+					     || input.data_source == manual_control_input_s::SOURCE_MAVLINK_3
+					     || input.data_source == manual_control_input_s::SOURCE_MAVLINK_4
+					     || input.data_source == manual_control_input_s::SOURCE_MAVLINK_5);
+	const bool source_any_matched = (_rc_in_mode == 3);
+	const bool not_overriding_existing_source = !_setpoint.valid
+			|| (_setpoint.chosen_input.data_source == input.data_source);
+
+	if (source_rc_matched || source_mavlink_matched || source_any_matched) {
+		if (not_overriding_existing_source) {
 			_setpoint = setpoint_from_input(input);
 			_setpoint.valid = true;
 			_instance = instance;
diff --git a/src/modules/manual_control/ManualControlSelector.hpp b/src/modules/manual_control/ManualControlSelector.hpp
index 6646fd3293..fcf5005355 100644
--- a/src/modules/manual_control/ManualControlSelector.hpp
+++ b/src/modules/manual_control/ManualControlSelector.hpp
@@ -53,10 +53,10 @@ public:
 private:
 	static manual_control_setpoint_s setpoint_from_input(const manual_control_input_s &input);
 
-	manual_control_setpoint_s _setpoint {};
-	uint64_t _timeout {0};
-	int32_t _rc_in_mode {0};
-	int _instance {-1};
+	manual_control_setpoint_s _setpoint{};
+	uint64_t _timeout{0};
+	int32_t _rc_in_mode{0};
+	int _instance{-1};
 };
 
 } // namespace manual_control
diff --git a/src/modules/manual_control/ManualControlSelectorTest.cpp b/src/modules/manual_control/ManualControlSelectorTest.cpp
index c293a5c39d..a0ba5ca2e1 100644
--- a/src/modules/manual_control/ManualControlSelectorTest.cpp
+++ b/src/modules/manual_control/ManualControlSelectorTest.cpp
@@ -93,11 +93,9 @@ TEST(ManualControlSelector, MavlinkInputOnly)
 	EXPECT_TRUE(selector.setpoint().chosen_input.data_source == manual_control_input_s::SOURCE_MAVLINK_3);
 	EXPECT_EQ(selector.instance(), 1);
 
-	// But only the first MAVLink source wins, others are too late.
-
 	timestamp += 100_ms;
 
-	// Now provide input with the correct source.
+	// But only the first MAVLink source wins, others are too late.
 	input.data_source = manual_control_input_s::SOURCE_MAVLINK_4;
 	input.timestamp_sample = timestamp;
 	selector.update_manual_control_input(timestamp, input, 1);