diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 4cdaa4eb6e..54417eb772 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -514,22 +514,32 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 
 		} else if (status->data_link_lost && data_link_loss_act_configured
 			   && is_armed && !landed) {
-			// Data link lost, data link loss reaction configured, do configured reaction
+			// Data link lost, data link loss reaction configured -> do configured reaction
 			enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
 			set_link_loss_nav_state(status, armed, status_flags, internal_state, data_link_loss_act, 0);
 
-		} else if (status->rc_signal_lost
+		} else if (status->rc_signal_lost && rc_loss_act_configured && status_flags.rc_signal_found_once
+			   && is_armed && !landed) {
+			// RC link lost, rc loss reaction configured, RC was used before -> RC loss reaction after delay
+			// Safety pilot expects to be able to take over by RC in case anything unexpected happens
+			enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
+			set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
+
+		} else if (status->rc_signal_lost && rc_loss_act_configured
 			   && status->data_link_lost && !data_link_loss_act_configured
 			   && is_armed && !landed) {
-			// All links lost, no data link loss reaction configured, immediately do RC loss reaction
+			// All links lost, no data link loss reaction configured -> immediately do RC loss reaction
+			// Lost all communication, by default it's considered unsafe to continue the mission
+			// Note this case is reached after the previous one when flying mission completely without RC
 			enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
-			set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
+			set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, 0);
 
 		} else if (status->rc_signal_lost && !rc_loss_act_configured
 			   && status->data_link_lost && !data_link_loss_act_configured
 			   && is_armed && !landed
 			   && mission_finished) {
-			// All links lost, all link loss reactions disabled, return after mission to prevent stuck vehicle
+			// All links lost, all link loss reactions disabled -> return after mission
+			// Pilot disabled all reactions, finish mission but then return to avoid lost vehicle
 			enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_datalink);
 			set_link_loss_nav_state(status, armed, status_flags, internal_state, link_loss_actions_t::AUTO_RTL, 0);