diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 46f510a52d..8e07e24572 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2307,11 +2307,13 @@ Commander::run()
 					 _safety.isButtonAvailable(), _vehicle_status);
 
 			// Notify the user if the status of the safety button changes
-			if (_safety.isSafetyOff()) {
-				set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
+			if (!_safety.isSafetyDisabled()) {
+				if (_safety.isSafetyOff()) {
+					set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
 
-			} else {
-				tune_neutral(true);
+				} else {
+					tune_neutral(true);
+				}
 			}
 
 			_status_changed = true;
diff --git a/src/modules/commander/Safety.hpp b/src/modules/commander/Safety.hpp
index 0092903517..443be32a1e 100644
--- a/src/modules/commander/Safety.hpp
+++ b/src/modules/commander/Safety.hpp
@@ -51,6 +51,7 @@ public:
 	void activateSafety();
 	bool isButtonAvailable() { return _button_available; }
 	bool isSafetyOff() { return _safety_off; }
+	bool isSafetyDisabled() { return _safety_disabled; }
 
 private:
 	uORB::Subscription _safety_button_sub{ORB_ID::safety_button};