diff --git a/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp
index 85b68a8485..d5e122935d 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -55,4 +55,61 @@ void FlightTimeChecks::checkAndReport(const Context &context, Report &reporter)
 	} else {
 		reporter.failsafeFlags().flight_time_limit_exceeded = false;
 	}
+
+	// report warning when approaching max flight time
+	if (!reporter.failsafeFlags().flight_time_limit_exceeded
+	    && context.status().takeoff_time != 0
+	    && _param_com_flt_time_max.get() > 0) {
+
+		const float remaining_flight_time_sec = (context.status().takeoff_time < hrt_absolute_time()) ?
+							_param_com_flt_time_max.get() - 1.e-6f * (hrt_absolute_time() - context.status().takeoff_time) :
+							_param_com_flt_time_max.get();
+
+		if (remaining_flight_time_sec < 0.1f * _param_com_flt_time_max.get()) {
+			// send warnings every minute until RTL
+
+			const int floored_remaining_flight_time_sec = int(remaining_flight_time_sec);
+
+			if (floored_remaining_flight_time_sec <= 60 && _last_flight_time_warning_sec == -1) {
+				// less than or equal to a minute remaining on first pass
+
+				if (reporter.mavlink_log_pub()) {
+					mavlink_log_warning(reporter.mavlink_log_pub(), "Approaching max flight time (system will RTL in %i seconds)\t",
+							    floored_remaining_flight_time_sec);
+				}
+
+				/* EVENT
+				* @description
+				* Maximal flight time warning (less than 1min remaining)
+				*/
+				events::send<int16_t>(events::ID("commander_max_flight_time_warning_seconds"), events::Log::Warning,
+						      "Approaching max flight time (system will RTL in {1} seconds)", floored_remaining_flight_time_sec);
+
+			} else if ((floored_remaining_flight_time_sec % 60) == 0 && floored_remaining_flight_time_sec >= 60
+				   && floored_remaining_flight_time_sec != _last_flight_time_warning_sec) {
+
+				const int floored_remaining_flight_time_min = (int)(remaining_flight_time_sec * 0.016666667f);
+
+				if (reporter.mavlink_log_pub()) {
+					mavlink_log_warning(reporter.mavlink_log_pub(), "Approaching max flight time (system will RTL in %i minutes)\t",
+							    floored_remaining_flight_time_min);
+				}
+
+				/* EVENT
+				* @description
+				* Maximal flight time warning (more than 1min remaining)
+				*/
+				events::send<int16_t>(events::ID("commander_max_flight_time_warning_minutes"), events::Log::Warning,
+						      "Approaching max flight time (system will RTL in {1} minutes)", floored_remaining_flight_time_min);
+			}
+
+			_last_flight_time_warning_sec = floored_remaining_flight_time_sec;
+
+		} else {
+			_last_flight_time_warning_sec = -1; //reset if not in last 10%
+		}
+
+	} else {
+		_last_flight_time_warning_sec = -1; //reset if not enabled, landed or currently already exceeded
+	}
 }
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.hpp
index a4350886fb..b49ec6186f 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -44,6 +44,8 @@ public:
 	void checkAndReport(const Context &context, Report &reporter) override;
 
 private:
+	int _last_flight_time_warning_sec{-1};
+
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
 					(ParamInt<px4::params::COM_FLT_TIME_MAX>) _param_com_flt_time_max
 				       )