diff --git a/src/ui/uas/UASControlWidget.cc b/src/ui/uas/UASControlWidget.cc
index 06161d291ed938099d5b4b84a445f9228e021a96..9d970ee05868a2f36024e79c8ce519dbb1e80970 100644
--- a/src/ui/uas/UASControlWidget.cc
+++ b/src/ui/uas/UASControlWidget.cc
@@ -178,6 +178,12 @@ void UASControlWidget::transmitMode()
     UASInterface* mav = UASManager::instance()->getUASForId(this->uas);
     if (mav)
     {
+        // include armed state
+        if (engineOn)
+            uasMode |= MAV_MODE_FLAG_SAFETY_ARMED;
+        else
+            uasMode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
+
         mav->setMode(uasMode);
         QString mode = ui.modeComboBox->currentText();