diff --git a/src/ui/MainWindowInner.qml b/src/ui/MainWindowInner.qml
index 3a7ebe1f6caaa33147c805d64e1418f2b85f66a6..8d88cdb1c2ed490f465c0c8d6c5a8b5a2f5ace28 100644
--- a/src/ui/MainWindowInner.qml
+++ b/src/ui/MainWindowInner.qml
@@ -273,7 +273,13 @@ Item {
         onShowFlyView:          mainWindow.showFlyView()
         onShowAnalyzeView:      mainWindow.showAnalyzeView()
         onArmVehicle:           flightView.guidedController.confirmAction(flightView.guidedController.actionArm)
-        onDisarmVehicle:        flightView.guidedController.confirmAction(flightView.guidedController.actionDisarm)
+        onDisarmVehicle: {
+            if (flightView.guidedController.showEmergenyStop) {
+                flightView.guidedController.confirmAction(flightView.guidedController.actionEmergencyStop)
+            } else {
+                flightView.guidedController.confirmAction(flightView.guidedController.actionDisarm)
+            }
+        }
 
         //-- Entire tool bar area disable on cammand
         MouseArea {