diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 1ace6e22d4..0d30a8895c 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2016,7 +2016,7 @@ void Commander::run()
 			_vehicle_status.timestamp = hrt_absolute_time();
 			_vehicle_status_pub.publish(_vehicle_status);
 
-			_failure_detector.publishStatus();
+			_failure_detector.publishStatus(_health_and_arming_checks.getEscArmStatus(), _health_and_arming_checks.getMotorFailureMask());
 		}
 
 		checkWorkerThread();
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 6a989d9f96..ff6ed018be 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -224,7 +224,7 @@ private:
 
 	Failsafe		_failsafe_instance{this};
 	FailsafeBase		&_failsafe{_failsafe_instance};
-	FailureDetector		_failure_detector{this, _health_and_arming_checks};
+	FailureDetector		_failure_detector{this};
 	HealthAndArmingChecks	_health_and_arming_checks{this, _vehicle_status};
 	MulticopterThrowLaunch  _multicopter_throw_launch{this};
 	Safety			_safety{};
diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index 8aa6df16bf..c4d6bd9692 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -43,9 +43,8 @@
 
 using namespace time_literals;
 
-FailureDetector::FailureDetector(ModuleParams *parent, HealthAndArmingChecks &health_and_arming_checks) :
-	ModuleParams(parent),
-	_health_and_arming_checks(health_and_arming_checks)
+FailureDetector::FailureDetector(ModuleParams *parent) :
+	ModuleParams(parent)
 {
 }
 
@@ -76,19 +75,19 @@ bool FailureDetector::update(const vehicle_status_s &vehicle_status, const vehic
 	return _failure_detector_status.value != status_prev.value;
 }
 
-void FailureDetector::publishStatus()
+void FailureDetector::publishStatus(bool esc_arm_status, uint16_t motor_failure_mask)
 {
 	failure_detector_status_s failure_detector_status{};
 	failure_detector_status.fd_roll = _failure_detector_status.flags.roll;
 	failure_detector_status.fd_pitch = _failure_detector_status.flags.pitch;
 	failure_detector_status.fd_alt = _failure_detector_status.flags.alt;
 	failure_detector_status.fd_ext = _failure_detector_status.flags.ext;
-	failure_detector_status.fd_arm_escs = _health_and_arming_checks.getEscArmStatus() || (_health_and_arming_checks.getMotorFailureMask() != 0);
+	failure_detector_status.fd_arm_escs = esc_arm_status || (motor_failure_mask != 0);
 	failure_detector_status.fd_battery = _failure_detector_status.flags.battery;
 	failure_detector_status.fd_imbalanced_prop = _failure_detector_status.flags.imbalanced_prop;
-	failure_detector_status.fd_motor = (_health_and_arming_checks.getMotorFailureMask() != 0) || (_failure_injector.getMotorStopMask() != 0);
+	failure_detector_status.fd_motor = (motor_failure_mask != 0) || (_failure_injector.getMotorStopMask() != 0);
 	failure_detector_status.imbalanced_prop_metric = _imbalanced_prop_lpf.getState();
-	failure_detector_status.motor_failure_mask = _health_and_arming_checks.getMotorFailureMask();
+	failure_detector_status.motor_failure_mask = motor_failure_mask;
 	failure_detector_status.motor_stop_mask = _failure_injector.getMotorStopMask();
 	failure_detector_status.timestamp = hrt_absolute_time();
 	_failure_detector_status_pub.publish(failure_detector_status);
diff --git a/src/modules/commander/failure_detector/FailureDetector.hpp b/src/modules/commander/failure_detector/FailureDetector.hpp
index 6ecb782931..75aed5bc40 100644
--- a/src/modules/commander/failure_detector/FailureDetector.hpp
+++ b/src/modules/commander/failure_detector/FailureDetector.hpp
@@ -48,7 +48,6 @@
 #include <lib/mathlib/mathlib.h>
 #include <lib/mathlib/math/filter/AlphaFilter.hpp>
 #include <matrix/matrix/math.hpp>
-#include <mixer_module/output_functions.hpp>
 #include <px4_platform_common/module_params.h>
 
 // subscriptions
@@ -79,18 +78,16 @@ union failure_detector_status_u {
 
 using uORB::SubscriptionData;
 
-class HealthAndArmingChecks;
-
 class FailureDetector : public ModuleParams
 {
 public:
-	FailureDetector(ModuleParams *parent, HealthAndArmingChecks &health_and_arming_checks);
+	FailureDetector(ModuleParams *parent);
 	~FailureDetector() = default;
 
 	bool update(const vehicle_status_s &vehicle_status, const vehicle_control_mode_s &vehicle_control_mode);
 	const failure_detector_status_u &getStatus() const { return _failure_detector_status; }
 
-	void publishStatus();
+	void publishStatus(bool esc_arm_status, uint16_t motor_failure_mask);
 
 private:
 	void updateAttitudeStatus(const vehicle_status_s &vehicle_status);
@@ -99,8 +96,6 @@ private:
 
 	failure_detector_status_u _failure_detector_status{};
 
-	HealthAndArmingChecks &_health_and_arming_checks;
-
 	systemlib::Hysteresis _roll_failure_hysteresis{false};
 	systemlib::Hysteresis _pitch_failure_hysteresis{false};
 	systemlib::Hysteresis _ext_ats_failure_hysteresis{false};
@@ -127,5 +122,6 @@ private:
 		(ParamFloat<px4::params::FD_FAIL_P_TTRI>) _param_fd_fail_p_ttri,
 		(ParamBool<px4::params::FD_EXT_ATS_EN>) _param_fd_ext_ats_en,
 		(ParamInt<px4::params::FD_EXT_ATS_TRIG>) _param_fd_ext_ats_trig,
-		(ParamInt<px4::params::FD_IMB_PROP_THR>) _param_fd_imb_prop_thr)
+		(ParamInt<px4::params::FD_IMB_PROP_THR>) _param_fd_imb_prop_thr
+	)
 };