diff --git a/src/modules/commander/failsafe/failsafe_test.cpp b/src/modules/commander/failsafe/failsafe_test.cpp
index ad0f2e0615..a02c42f898 100644
--- a/src/modules/commander/failsafe/failsafe_test.cpp
+++ b/src/modules/commander/failsafe/failsafe_test.cpp
@@ -369,3 +369,26 @@ TEST_F(FailsafeTest, defer)
 	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Terminate);
 	ASSERT_FALSE(failsafe.failsafeDeferred());
 }
+
+TEST_F(FailsafeTest, skip_failsafe)
+{
+	FailsafeTester failsafe(nullptr);
+
+	failsafe_flags_s failsafe_flags{};
+	FailsafeBase::State state{};
+	state.armed = true;
+	state.user_intended_mode = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
+	state.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
+	hrt_abstime time = 5_s;
+
+	uint8_t updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
+	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
+	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::None);
+
+	// RC lost while in RTL -> stay in RTL and only warn
+	failsafe_flags.manual_control_signal_lost = true;
+
+	updated_user_intented_mode = failsafe.update(time, state, false, false, failsafe_flags);
+	ASSERT_EQ(updated_user_intented_mode, state.user_intended_mode);
+	ASSERT_EQ(failsafe.selectedAction(), FailsafeBase::Action::Warn);
+}
diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp
index 729205ebe8..6c0edb58c4 100644
--- a/src/modules/commander/failsafe/framework.cpp
+++ b/src/modules/commander/failsafe/framework.cpp
@@ -608,6 +608,15 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 		}
 	}
 
+	// If already in RTL, do not go into RTL again (would cause a Hold delay first, then re-start RTL)
+	if (returned_state.updated_user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) {
+		if ((selected_action == Action::RTL || returned_state.delayed_action == Action::RTL)
+		    && modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)) {
+			selected_action = Action::Warn;
+			returned_state.delayed_action = Action::None;
+		}
+	}
+
 	// If already precision landing, do not go into RTL or Land
 	if (returned_state.updated_user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND) {
 		if ((selected_action == Action::RTL || selected_action == Action::Land ||