diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg
index 51714682d3..cc480934f8 100644
--- a/msg/vehicle_status.msg
+++ b/msg/vehicle_status.msg
@@ -66,8 +66,7 @@ uint8 system_type			# system type, contains mavlink MAV_TYPE
 uint8 system_id			# system id, contains MAVLink's system ID field
 uint8 component_id			# subsystem / component id, contains MAVLink's component ID field
 
-#bool is_rotary_wing			# True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
-uint8 vehicle_type
+uint8 vehicle_type          # Type of vehicle (fixed-wing, rotary wing, ground)
 
 bool is_vtol				# True if the system is VTOL capable
 bool vtol_fw_permanent_stab		# True if VTOL should stabilize attitude for fw in manual mode
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 832a341ba8..162ea93c4c 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1407,14 +1407,18 @@ Commander::run()
 					status.system_type = (uint8_t)system_type;
 				}
 
+				bool is_rotary = is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode);
+				bool is_fixed = is_fixed_wing(&status) || (is_vtol(&status) && !vtol_status.vtol_in_rw_mode);
+				bool is_ground = is_ground_rover(&status);
+
 				/* disable manual override for all systems that rely on electronic stabilization */
-				if (is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode)) {
+				if (is_rotary) {
 					status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
 
-				} else if (is_fixed_wing(&status) || is_vtol(&status)) {
+				} else if (is_fixed) {
 					status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
 
-				} else if (is_ground_rover(&status)) {
+				} else if (is_ground) {
 					status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_GROUND;
 				}
 
@@ -1638,7 +1642,9 @@ Commander::run()
 			if (is_vtol(&status)) {
 
 				// Check if there has been any change while updating the flags
-				if ((status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) != vtol_status.vtol_in_rw_mode) {
+				bool is_rotary = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+
+				if (is_rotary != vtol_status.vtol_in_rw_mode) {
 					status.vehicle_type = vtol_status.vtol_in_rw_mode ?
 							      vehicle_status_s::VEHICLE_TYPE_ROTARY_WING :
 							      vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
@@ -1660,7 +1666,9 @@ Commander::run()
 					status_changed = true;
 				}
 
-				if (armed.soft_stop != (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
+				const bool is_not_rotary_wing = (status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
+
+				if (armed.soft_stop != is_not_rotary_wing) {
 					armed.soft_stop = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
 					status_changed = true;
 				}