diff --git a/src/modules/commander/failsafe/failsafe_test.cpp b/src/modules/commander/failsafe/failsafe_test.cpp
index 81eba458ae..9e5dc1d2c6 100644
--- a/src/modules/commander/failsafe/failsafe_test.cpp
+++ b/src/modules/commander/failsafe/failsafe_test.cpp
@@ -63,7 +63,8 @@ protected:
 		CHECK_FAILSAFE(status_flags, offboard_control_signal_lost, ActionOptions(Action::Hold));
 
 		CHECK_FAILSAFE(status_flags, navigator_failure, ActionOptions(Action::Warn));
-		CHECK_FAILSAFE(status_flags, fd_imbalanced_prop, ActionOptions(Action::None));
+		CHECK_FAILSAFE(status_flags, fd_imbalanced_prop,
+			       ActionOptions(Action::None).allowUserTakeover(UserTakeoverAllowed::AlwaysModeSwitchOnly));
 
 		_last_state_test = checkFailsafe(_caller_id_test, _last_state_test, status_flags.fd_motor_failure
 						 && status_flags.fd_critical_failure, ActionOptions(Action::Terminate).cannotBeDeferred());
@@ -338,6 +339,45 @@ TEST_F(FailsafeTest, no_delay_for_warn)
 	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
 }
 
+TEST_F(FailsafeTest, none_action_does_not_restrict_user_takeover)
+{
+	FailsafeTester failsafe(nullptr);
+
+	FailsafeBase::State state{};
+	state.armed = true;
+	state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_MANUAL;
+	state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+	hrt_abstime time = 3847124342;
+	failsafe_flags_s failsafe_flags{};
+	bool user_intended_mode_updated = false;
+
+	// Add an active Action::None entry with a restrictive takeover setting.
+	failsafe_flags.fd_imbalanced_prop = true;
+	uint8_t updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, false, failsafe_flags);
+	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
+	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
+
+	// Battery time low -> Hold for the delay
+	time += 10_ms;
+	failsafe_flags.battery_low_remaining_time = true;
+	updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, false, failsafe_flags);
+	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
+	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Hold);
+
+	// Delay over -> RTL
+	time += 5_s;
+	updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, false, failsafe_flags);
+	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
+	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::RTL);
+
+	// User wants takeover via sticks. The active Action::None must not downgrade this to mode-switch-only.
+	time += 10_ms;
+	updated_user_intented_mode = failsafe.update(time, state, user_intended_mode_updated, true, failsafe_flags);
+	ASSERT_EQ(updated_user_intented_mode, vehicle_status_s::NAVIGATION_STATE_POSCTL);
+	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
+	ASSERT_TRUE(failsafe.userTakeoverActive());
+}
+
 TEST_F(FailsafeTest, no_immediate_takeover_when_failsafe_on_mode_switch)
 {
 	FailsafeTester failsafe(nullptr);
diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp
index 0af4123d67..259fe7b5e5 100644
--- a/src/modules/commander/failsafe/framework.cpp
+++ b/src/modules/commander/failsafe/framework.cpp
@@ -467,6 +467,10 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 		const ActionOptions &cur_action = _actions[action_idx];
 
 		if (cur_action.valid()) {
+			if (cur_action.action == Action::None) {
+				continue;
+			}
+
 			if (cur_action.allow_user_takeover > allow_user_takeover) {
 				// Use the most restrictive setting among all active actions
 				allow_user_takeover = cur_action.allow_user_takeover;