diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index fee2b9ad91..2e262f36b5 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -164,14 +164,19 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60;		/**< Maximum percentage
 #define POSVEL_PROBATION_MAX 100E6		/**< maximum probation duration (usec) */
 #define POSVEL_VALID_PROBATION_FACTOR 10	/**< the rate at which the probation duration is increased while checks are failing */
 
+/* Parameters controlling the sensitivity of the position failsafe */
+static int32_t posctl_nav_loss_delay = POSITION_TIMEOUT;
+static int32_t posctl_nav_loss_prob = POSVEL_PROBATION_TAKEOFF;
+static int32_t posctl_nav_loss_gain = POSVEL_VALID_PROBATION_FACTOR;
+
 /*
  * Probation times for position and velocity validity checks to pass if failed
  * Signed integers are used because these can become negative values before constraints are applied
  */
-static int64_t gpos_probation_time_us = POSVEL_PROBATION_TAKEOFF;
-static int64_t gvel_probation_time_us = POSVEL_PROBATION_TAKEOFF;
-static int64_t lpos_probation_time_us = POSVEL_PROBATION_TAKEOFF;
-static int64_t lvel_probation_time_us = POSVEL_PROBATION_TAKEOFF;
+static int64_t gpos_probation_time_us = POSVEL_PROBATION_MIN;
+static int64_t gvel_probation_time_us = POSVEL_PROBATION_MIN;
+static int64_t lpos_probation_time_us = POSVEL_PROBATION_MIN;
+static int64_t lvel_probation_time_us = POSVEL_PROBATION_MIN;
 
 /* Mavlink log uORB handle */
 static orb_advert_t mavlink_log_pub = nullptr;
@@ -1696,6 +1701,10 @@ int commander_thread_main(int argc, char *argv[])
 
 	control_status_leds(&status, &armed, true, &battery, &cpuload);
 
+	param_get(param_find("COM_POS_FS_DELAY"), &posctl_nav_loss_delay);
+	param_get(param_find("COM_POS_FS_PROB"), &posctl_nav_loss_prob);
+	param_get(param_find("COM_POS_FS_GAIN"), &posctl_nav_loss_gain);
+
 	/* now initialized */
 	commander_initialized = true;
 	thread_running = true;
@@ -2216,7 +2225,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* update condition_local_altitude_valid */
-		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid,
+		check_valid(local_position.timestamp, posctl_nav_loss_delay, local_position.z_valid,
 			    &(status_flags.condition_local_altitude_valid), &status_changed);
 
 		/* Update land detector */
@@ -2234,10 +2243,10 @@ int commander_thread_main(int argc, char *argv[])
 					// Set all position and velocity test probation durations to takeoff value
 					// This is a larger value to give the vehicle time to complete a failsafe landing
 					// if faulty sensors cause loss of navigation shortly after takeoff.
-					gpos_probation_time_us = POSVEL_PROBATION_TAKEOFF;
-					gvel_probation_time_us = POSVEL_PROBATION_TAKEOFF;
-					lpos_probation_time_us = POSVEL_PROBATION_TAKEOFF;
-					lvel_probation_time_us = POSVEL_PROBATION_TAKEOFF;
+					gpos_probation_time_us = posctl_nav_loss_prob;
+					gvel_probation_time_us = posctl_nav_loss_prob;
+					lpos_probation_time_us = posctl_nav_loss_prob;
+					lvel_probation_time_us = posctl_nav_loss_prob;
 				}
 			}
 
@@ -3814,7 +3823,7 @@ check_posvel_validity(bool data_valid, float data_accuracy, float required_accur
 	} else if (!*valid_state) {
 		bool level_check_pass = data_valid && data_accuracy < required_accuracy;
 		if (!level_check_pass) {
-			*probation_time_us += (now - *last_fail_time_us) * POSVEL_VALID_PROBATION_FACTOR;
+			*probation_time_us += (now - *last_fail_time_us) * posctl_nav_loss_gain;
 			*last_fail_time_us = now;
 		} else if (now - *last_fail_time_us > *probation_time_us) {
 			pos_inaccurate = false;
@@ -3826,7 +3835,7 @@ check_posvel_validity(bool data_valid, float data_accuracy, float required_accur
 		*last_fail_time_us = now;
 	}
 
-	bool data_stale = (now - data_timestamp_us > POSITION_TIMEOUT);
+	bool data_stale = (now - data_timestamp_us > posctl_nav_loss_delay);
 
 	// Set validity
 	if (pos_status_changed) {
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 4ea0a5c264..0e48c3fffa 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -637,3 +637,35 @@ PARAM_DEFINE_INT32(COM_POSCTL_NAVL, 0);
  * @group Commander
  */
 PARAM_DEFINE_INT32(COM_ARM_AUTH, 256010);
+
+/**
+ * Loss of position failsafe activation delay.
+ *
+ * This sets number of micro seconds that the position checks need to be failed before the failsafe will activate.
+ *
+ * @reboot_required true
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1E6);
+
+/**
+ * Loss of position probation delay at takeoff.
+ *
+ * This sets number of micro seconds at takeoff that the EKF innovation checks need to pass for the positon to be declared good, if it has been declared bad.
+ * The probation period reduces by one second for every lapsed second of valid position down to a minimum of one second.
+ * When checks fail, the probation period is increased by COM_POS_FS_FACT seconds for every lapsed second up to a maximum of 100 seconds
+ *
+ * @reboot_required true
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_POS_FS_PROB, 30E6);
+
+/**
+ * Loss of position probation gain factor.
+ *
+ * This sets the rate that the loss of position probation time grows when position checks are failing.
+ *
+ * @reboot_required true
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_POS_FS_GAIN, 10);