diff --git a/src/modules/commander/HealthAndArmingChecks/Common.hpp b/src/modules/commander/HealthAndArmingChecks/Common.hpp
index 702e8f5f4d..e2b42c0580 100644
--- a/src/modules/commander/HealthAndArmingChecks/Common.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/Common.hpp
@@ -39,6 +39,7 @@
 #include <uORB/topics/health_report.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_status_flags.h>
+#include <systemlib/mavlink_log.h>
 
 #include <stdint.h>
 #include <limits.h>
@@ -195,6 +196,8 @@ public:
 
 	vehicle_status_flags_s &failsafeFlags() { return _status_flags; }
 
+	orb_advert_t *mavlink_log_pub() { return _mavlink_log_pub; }
+
 	/**
 	 * Whether arming is possible for a given navigation mode
 	 */
@@ -333,6 +336,8 @@ private:
 	int _current_result{0};
 
 	vehicle_status_flags_s &_status_flags;
+
+	orb_advert_t *_mavlink_log_pub{nullptr}; ///< mavlink log publication for legacy reporting
 };
 
 template<typename... Args>
diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
index 66c3a098a5..229276d9a5 100644
--- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
@@ -57,6 +57,26 @@ bool HealthAndArmingChecks::update(bool force_reporting)
 
 	if (_reporter.report(_context.isArmed(), force_reporting)) {
 
+		// LEGACY start
+		// Run the checks again, this time with the mavlink publication set.
+		// We don't expect any change, and rate limitation would prevent the events from being reported again,
+		// so we only report mavlink_log_*.
+		_reporter._mavlink_log_pub = &_mavlink_log_pub;
+		_reporter.reset();
+
+		for (unsigned i = 0; i < sizeof(_checks) / sizeof(_checks[0]); ++i) {
+			if (!_checks[i]) {
+				break;
+			}
+
+			_checks[i]->checkAndReport(_context, _reporter);
+		}
+
+		_reporter.finalize();
+		_reporter.report(_context.isArmed(), false);
+		_reporter._mavlink_log_pub = nullptr;
+		// LEGACY end
+
 		health_report_s health_report;
 		_reporter.getHealthReport(health_report);
 		health_report.timestamp = hrt_absolute_time();
diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
index 0493a7f576..b001e03a45 100644
--- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
@@ -63,6 +63,7 @@ protected:
 private:
 	Context _context;
 	Report _reporter;
+	orb_advert_t _mavlink_log_pub{nullptr};
 
 	uORB::Publication<health_report_s> _health_report_pub{ORB_ID(health_report)};