diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 095c369b16..ca47b9939e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -135,7 +135,6 @@ then
 	param set COM_DISARM_LAND 0.5
 	param set COM_OBL_ACT 2
 	param set COM_OBL_RC_ACT 0
-	param set COM_OF_LOSS_T 5
 	param set COM_RC_IN_MODE 1
 
 	param set EKF2_AID_MASK 1
@@ -199,11 +198,11 @@ if [ ! -z $PX4_SIM_SPEED_FACTOR ]; then
 	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
 	param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
 
-	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 1" | bc)
+	COM_RC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
 	param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
 
-	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
+	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
 fi
diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg
index 8d74dc0881..851bf96b81 100644
--- a/msg/vehicle_status_flags.msg
+++ b/msg/vehicle_status_flags.msg
@@ -26,7 +26,6 @@ bool circuit_breaker_vtol_fw_arming_check 	# set to true if for VTOLs arming in
 bool offboard_control_signal_found_once
 bool offboard_control_signal_lost
 bool offboard_control_set_by_command                # true if the offboard mode was set by a mavlink command and should not be overridden by RC
-bool offboard_control_loss_timeout                # true if offboard is lost for a certain amount of time
 
 bool rc_signal_found_once
 bool rc_input_blocked                                # set if RC input should be ignored temporarily
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 41243bd30d..e600fda154 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1369,6 +1369,8 @@ Commander::run()
 				}
 			}
 
+			_offboard_available.set_hysteresis_time_from(true, _param_com_of_loss_t.get());
+
 			param_init_forced = false;
 		}
 
@@ -3993,38 +3995,16 @@ Commander::offboard_control_update()
 		}
 	}
 
-	if (offboard_control_mode.timestamp != 0 &&
-	    offboard_control_mode.timestamp + OFFBOARD_TIMEOUT > hrt_absolute_time()) {
-		if (status_flags.offboard_control_signal_lost) {
-			status_flags.offboard_control_signal_lost = false;
-			status_flags.offboard_control_loss_timeout = false;
-			_status_changed = true;
-		}
+	_offboard_available.set_state_and_update(
+		hrt_elapsed_time(&offboard_control_mode.timestamp) < _param_com_of_loss_t.get() * 1e6f,
+		hrt_absolute_time());
 
-	} else {
-		if (!status_flags.offboard_control_signal_lost) {
-			status_flags.offboard_control_signal_lost = true;
-			_status_changed = true;
-		}
+	const bool offboard_lost = !_offboard_available.get_state();
 
-		/* check timer if offboard was there but now lost */
-		if (!status_flags.offboard_control_loss_timeout && offboard_control_mode.timestamp != 0) {
-			if (_param_com_of_loss_t.get() < FLT_EPSILON) {
-				/* execute loss action immediately */
-				status_flags.offboard_control_loss_timeout = true;
-
-			} else {
-				/* wait for timeout if set */
-				status_flags.offboard_control_loss_timeout = offboard_control_mode.timestamp +
-						OFFBOARD_TIMEOUT + _param_com_of_loss_t.get() * 1e6f < hrt_absolute_time();
-			}
-
-			if (status_flags.offboard_control_loss_timeout) {
-				_status_changed = true;
-			}
-		}
+	if (status_flags.offboard_control_signal_lost != offboard_lost) {
+		status_flags.offboard_control_signal_lost = offboard_lost;
+		_status_changed = true;
 	}
-
 }
 
 void Commander::esc_status_check(const esc_status_s &esc_status)
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 1fc2fa08e6..3804063281 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -276,7 +276,6 @@ private:
 
 	static constexpr float STICK_ON_OFF_LIMIT{0.9f};
 
-	static constexpr uint64_t OFFBOARD_TIMEOUT{500_ms};
 	static constexpr uint64_t HOTPLUG_SENS_TIMEOUT{8_s};	/**< wait for hotplug sensors to come online for upto 8 seconds */
 	static constexpr uint64_t PRINT_MODE_REJECT_INTERVAL{500_ms};
 	static constexpr uint64_t INAIR_RESTART_HOLDOFF_INTERVAL{500_ms};
@@ -330,6 +329,7 @@ private:
 
 	Hysteresis	_auto_disarm_landed{false};
 	Hysteresis	_auto_disarm_killed{false};
+	Hysteresis	_offboard_available{false};
 
 	hrt_abstime	_last_print_mode_reject_time{0};	///< To remember when last notification was sent
 
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 44785b7772..a015e4f4ba 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -330,9 +330,9 @@ PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0);
  * @unit s
  * @min 0
  * @max 60
- * @increment 1
+ * @increment 0.01
  */
-PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.0f);
+PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.5f);
 
 /**
  * Set offboard loss failsafe mode
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 126530d0c0..a552494eb4 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -684,8 +684,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 
 	case commander_state_s::MAIN_STATE_OFFBOARD:
 
-		/* require offboard control, otherwise stay where you are */
-		if (status_flags.offboard_control_signal_lost && status_flags.offboard_control_loss_timeout) {
+		if (status_flags.offboard_control_signal_lost) {
 			if (status->rc_signal_lost) {
 				// Offboard and RC are lost
 				enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc_and_no_offboard);