diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index 46c9353450..b4a2469932 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -77,14 +77,20 @@ FailureDetector::update_attitude_status()
 		const bool roll_status = (max_roll > 0.0f) && (fabsf(roll) > max_roll);
 		const bool pitch_status = (max_pitch > 0.0f) && (fabsf(pitch) > max_pitch);
 
+		// Update hysteresis
+		_roll_failure_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_fd_fail_r_ttri.get()));
+		_pitch_failure_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_fd_fail_p_ttri.get()));
+		_roll_failure_hysteresis.set_state_and_update(roll_status);
+		_pitch_failure_hysteresis.set_state_and_update(pitch_status);
+
 		// Update bitmask
 		_status &= ~(FAILURE_ROLL | FAILURE_PITCH);
 
-		if (roll_status) {
+		if (_roll_failure_hysteresis.get_state()) {
 			_status |= FAILURE_ROLL;
 		}
 
-		if (pitch_status) {
+		if (_pitch_failure_hysteresis.get_state()) {
 			_status |= FAILURE_PITCH;
 		}
 
diff --git a/src/modules/commander/failure_detector/FailureDetector.hpp b/src/modules/commander/failure_detector/FailureDetector.hpp
index fb5a9eb682..85f91891fd 100644
--- a/src/modules/commander/failure_detector/FailureDetector.hpp
+++ b/src/modules/commander/failure_detector/FailureDetector.hpp
@@ -46,6 +46,7 @@
 #include <matrix/matrix/math.hpp>
 #include <mathlib/mathlib.h>
 #include <px4_module_params.h>
+#include <systemlib/hysteresis/hysteresis.h>
 
 // subscriptions
 #include <uORB/Subscription.hpp>
@@ -75,7 +76,9 @@ private:
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::FD_FAIL_P>) _param_fd_fail_p,
-		(ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r
+		(ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r,
+		(ParamFloat<px4::params::FD_FAIL_R_TTRI>) _param_fd_fail_r_ttri,
+		(ParamFloat<px4::params::FD_FAIL_P_TTRI>) _param_fd_fail_p_ttri
 	)
 
 	// Subscriptions
@@ -84,5 +87,8 @@ private:
 
 	uint8_t _status{FAILURE_NONE};
 
+	systemlib::Hysteresis _roll_failure_hysteresis{false};
+	systemlib::Hysteresis _pitch_failure_hysteresis{false};
+
 	bool update_attitude_status();
 };
diff --git a/src/modules/commander/failure_detector/failure_detector_params.c b/src/modules/commander/failure_detector/failure_detector_params.c
index 330276e331..b7642978af 100644
--- a/src/modules/commander/failure_detector/failure_detector_params.c
+++ b/src/modules/commander/failure_detector/failure_detector_params.c
@@ -46,7 +46,7 @@
  * FailureDetector Max Roll
  *
  * Maximum roll angle before FailureDetector triggers the attitude_failure flag
- * If flight termination is enabled (@CBRK_FLIGHTTERM set to zero), the autopilot
+ * If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot
  * will terminate the flight and set all the outputs to their failsafe value
  * as soon as the attitude_failure flag is set.
  *
@@ -63,7 +63,7 @@ PARAM_DEFINE_INT32(FD_FAIL_R, 60);
  * FailureDetector Max Pitch
  *
  * Maximum pitch angle before FailureDetector triggers the attitude_failure flag
- * If flight termination is enabled (@CBRK_FLIGHTTERM set to zero), the autopilot
+ * If flight termination is enabled (@CBRK_FLIGHTTERM set to 0), the autopilot
  * will terminate the flight and set all the outputs to their failsafe value
  * as soon as the attitude_failure flag is set.
  *
@@ -75,3 +75,31 @@ PARAM_DEFINE_INT32(FD_FAIL_R, 60);
  * @group Failure Detector
  */
 PARAM_DEFINE_INT32(FD_FAIL_P, 60);
+
+/**
+ * Roll failure trigger time
+ *
+ * Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.
+ *
+ * @unit s
+ * @min 0.02
+ * @max 5
+ * @decimal 2
+ *
+ * @group Failure Detector
+ */
+PARAM_DEFINE_FLOAT(FD_FAIL_R_TTRI, 0.3);
+
+/**
+ * Pitch failure trigger time
+ *
+ * Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.
+ *
+ * @unit s
+ * @min 0.02
+ * @max 5
+ * @decimal 2
+ *
+ * @group Failure Detector
+ */
+PARAM_DEFINE_FLOAT(FD_FAIL_P_TTRI, 0.3);