diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index dc11eba845..22754f5d18 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -345,7 +345,7 @@ PARAM_DEFINE_INT32(COM_OBL_ACT, 0);
  * @value 2 Manual
  * @value 3 Return to Land
  * @value 4 Land at current position
- *
+ * @value 5 Loiter
  * @group Mission
  */
 PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 1a9c05f30f..af0790a102 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -830,6 +830,9 @@ bool set_nav_state(struct vehicle_status_s *status,
 				} else if (offb_loss_rc_act == 4 && status_flags->condition_global_position_valid) {
 					status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
 
+				} else if (offb_loss_rc_act == 5 && status_flags->condition_global_position_valid) {
+					status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
+
 				} else if (status_flags->condition_local_altitude_valid) {
 					status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;