diff --git a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp
index c60a9a4af0..8ef3c5cfa9 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp
@@ -64,6 +64,7 @@ int ExternalChecks::addRegistration(int8_t nav_mode_id, int8_t replaces_nav_stat
 		_active_registrations_mask |= 1 << free_registration_index;
 		_registrations[free_registration_index].nav_mode_id = nav_mode_id;
 		_registrations[free_registration_index].replaces_nav_state = replaces_nav_state;
+		_registrations[free_registration_index].waiting_for_first_response = true;
 		_registrations[free_registration_index].num_no_response = 0;
 		_registrations[free_registration_index].unresponsive = false;
 		_registrations[free_registration_index].total_num_unresponsive = 0;
@@ -230,6 +231,7 @@ void ExternalChecks::update()
 		    && _current_request_id == reply.request_id) {
 			_reply_received_mask |= 1u << reply.registration_id;
 			_registrations[reply.registration_id].num_no_response = 0;
+			_registrations[reply.registration_id].waiting_for_first_response = false;
 
 			// Prevent toggling between unresponsive & responsive state
 			if (_registrations[reply.registration_id].total_num_unresponsive <= 3) {
@@ -253,7 +255,10 @@ void ExternalChecks::update()
 
 			for (int i = 0; i < MAX_NUM_REGISTRATIONS; ++i) {
 				if ((1u << i) & no_reply) {
-					if (!_registrations[i].unresponsive && ++_registrations[i].num_no_response >= NUM_NO_REPLY_UNTIL_UNRESPONSIVE) {
+					const int max_num_no_reply =
+						_registrations[i].waiting_for_first_response ? NUM_NO_REPLY_UNTIL_UNRESPONSIVE_INIT : NUM_NO_REPLY_UNTIL_UNRESPONSIVE;
+
+					if (!_registrations[i].unresponsive && ++_registrations[i].num_no_response > max_num_no_reply) {
 						// Clear immediately if not a mode
 						if (_registrations[i].nav_mode_id == -1) {
 							removeRegistration(i, -1);
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp
index b4ee24cba6..7129e46203 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/externalChecks.hpp
@@ -72,6 +72,9 @@ private:
 	static constexpr hrt_abstime UPDATE_INTERVAL = 300_ms;
 	static_assert(REQUEST_TIMEOUT < UPDATE_INTERVAL, "keep timeout < update interval");
 	static constexpr int NUM_NO_REPLY_UNTIL_UNRESPONSIVE = 3; ///< Mode timeout = this value * UPDATE_INTERVAL
+	/// Timeout directly after registering (in some cases ROS can take a while until the subscription gets the first
+	/// sample, around 800ms was observed)
+	static constexpr int NUM_NO_REPLY_UNTIL_UNRESPONSIVE_INIT = 10;
 
 	void checkNonRegisteredModes(const Context &context, Report &reporter) const;
 
@@ -83,6 +86,7 @@ private:
 		int8_t nav_mode_id{-1}; ///< associated mode, -1 if none
 		int8_t replaces_nav_state{-1};
 
+		bool waiting_for_first_response{true};
 		uint8_t num_no_response{0};
 		bool unresponsive{false};
 		uint8_t total_num_unresponsive{0};