diff --git a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
index f17707cff1..48cec71d9b 100644
--- a/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
+++ b/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
@@ -308,7 +308,6 @@
 1	1	COM_HOME_EN	1	6
 1	1	COM_HOME_IN_AIR	0	6
 1	1	COM_IMB_PROP_ACT	0	6
-1	1	COM_KILL_DISARM	5.000000000000000000	9
 1	1	COM_LKDOWN_TKO	3.000000000000000000	9
 1	1	COM_LOW_BAT_ACT	0	6
 1	1	COM_MOT_TEST_EN	1	6
diff --git a/docs/en/config/safety.md b/docs/en/config/safety.md
index 306e93acaf..4995a88d67 100644
--- a/docs/en/config/safety.md
+++ b/docs/en/config/safety.md
@@ -364,11 +364,7 @@ This section lists the available emergency switches.
 
 A kill switch immediately stops all motor outputs — if flying, the vehicle will start to fall!
 
-[By default](#COM_KILL_DISARM) the motors will restart if the switch is reverted within 5 seconds, after which the vehicle will automatically disarm, and you will need to arm it again in order to start the motors.
-
-| Parameter                                                                                                | Description                                                                     |
-| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------- |
-| <a id="COM_KILL_DISARM"></a>[COM_KILL_DISARM](../advanced_config/parameter_reference.md#COM_KILL_DISARM) | Timeout value for disarming after kill switch is engaged. Default: `5` seconds. |
+The motors will restart if the switch is reverted within 5 seconds, after which the vehicle will automatically disarm, and you will need to arm it again in order to start the motors.
 
 ::: info
 There is also a [Kill Gesture](#kill-gesture), which cannot be reverted.
@@ -410,7 +406,7 @@ A return switch can be used to immediately engage [Return mode](../flight_modes/
 
 A kill gesture immediately stops all motor outputs — if flying, the vehicle will start to fall!
 
-The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within the time period defined by [COM_KILL_DISARM](#COM_KILL_DISARM)).
+The action cannot be reverted without a reboot (this differs from a [Kill Switch](#kill-switch), where the operation can be reverted within 5 seconds).
 
 | Parameter                                                                                                | Description                                                                                          |
 | -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------- |
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 0d30a8895c..98e3796f38 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -766,6 +766,7 @@ Commander::Commander() :
 	updateParameters();
 
 	_failsafe.setOnNotifyUserCallback(&Commander::onFailsafeNotifyUserTrampoline, this);
+	_auto_disarm_killed.set_hysteresis_time_from(false, 5_s);
 }
 
 Commander::~Commander()
@@ -1814,8 +1815,6 @@ void Commander::updateParameters()
 		_vehicle_status.system_type = value_int32;
 	}
 
-	_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
-
 	const bool is_rotary = is_rotary_wing(_vehicle_status) || (is_vtol(_vehicle_status)
 			       && _vtol_vehicle_status.vehicle_vtol_state != vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
 	const bool is_fixed = is_fixed_wing(_vehicle_status) || (is_vtol(_vehicle_status)
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index c6aeae8385..5681cec022 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -343,7 +343,6 @@ private:
 		(ParamBool<px4::params::COM_HOME_EN>)       _param_com_home_en,
 		(ParamBool<px4::params::COM_HOME_IN_AIR>)   _param_com_home_in_air,
 		(ParamBool<px4::params::COM_FORCE_SAFETY>)  _param_com_force_safety,
-		(ParamFloat<px4::params::COM_KILL_DISARM>)  _param_com_kill_disarm,
 		(ParamBool<px4::params::COM_MOT_TEST_EN>)   _param_com_mot_test_en,
 		(ParamFloat<px4::params::COM_OBC_LOSS_T>)   _param_com_obc_loss_t,
 		(ParamInt<px4::params::COM_PREARM_MODE>)    _param_com_prearm_mode,
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 8ec105c531..731d9c619d 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -710,19 +710,6 @@ PARAM_DEFINE_INT32(COM_FORCE_SAFETY, 0);
  */
 PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1);
 
-/**
- * Timeout value for disarming when kill switch is engaged
- *
- * Use RC_MAP_KILL_SW to map a kill switch.
- *
- * @group Commander
- * @unit s
- * @min 0.0
- * @max 30.0
- * @increment 0.1
- */
-PARAM_DEFINE_FLOAT(COM_KILL_DISARM, 5.0f);
-
 /**
  * Maximum allowed CPU load to still arm.
  *
diff --git a/src/modules/rc_update/params.c b/src/modules/rc_update/params.c
index 3709a3a841..36ace2d33a 100644
--- a/src/modules/rc_update/params.c
+++ b/src/modules/rc_update/params.c
@@ -1216,7 +1216,7 @@ PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0);
  *
  * This channel immediately sets all outputs to their disarmed values, parachutes are NOT deployed.
  * Unlike termination this can be undone. Quickly flipping the switch back restores control.
- * System auto-disarms after COM_KILL_DISARM seconds, preflight checks and re-arming are then required.
+ * System auto-disarms after 5 seconds, preflight checks and re-arming are then required.
  *
  * @min 0
  * @max 18