diff --git a/src/modules/commander/ManualControl.cpp b/src/modules/commander/ManualControl.cpp
index 5278b0bbe6..581b300d58 100644
--- a/src/modules/commander/ManualControl.cpp
+++ b/src/modules/commander/ManualControl.cpp
@@ -53,6 +53,7 @@ bool ManualControl::update()
 	}
 
 	_rc_available = _rc_allowed
+			&& _manual_control_setpoint.valid
 			&& _manual_control_setpoint.timestamp != 0
 			&& (hrt_elapsed_time(&_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s));