diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index 610d84395d..49e3482b7d 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -77,11 +77,13 @@ FailureDetector::updateAttitudeStatus()
 		const bool roll_status = (max_roll > 0.0f) && (fabsf(roll) > max_roll);
 		const bool pitch_status = (max_pitch > 0.0f) && (fabsf(pitch) > max_pitch);
 
+		hrt_abstime time_now = hrt_absolute_time();
+
 		// Update hysteresis
 		_roll_failure_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_fd_fail_r_ttri.get()));
 		_pitch_failure_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_fd_fail_p_ttri.get()));
-		_roll_failure_hysteresis.set_state_and_update(roll_status);
-		_pitch_failure_hysteresis.set_state_and_update(pitch_status);
+		_roll_failure_hysteresis.set_state_and_update(roll_status, time_now);
+		_pitch_failure_hysteresis.set_state_and_update(pitch_status, time_now);
 
 		// Update bitmask
 		_status &= ~(FAILURE_ROLL | FAILURE_PITCH);
diff --git a/src/modules/commander/failure_detector/FailureDetector.hpp b/src/modules/commander/failure_detector/FailureDetector.hpp
index 46bd6e4995..f9cdd4ce12 100644
--- a/src/modules/commander/failure_detector/FailureDetector.hpp
+++ b/src/modules/commander/failure_detector/FailureDetector.hpp
@@ -46,7 +46,7 @@
 #include <matrix/matrix/math.hpp>
 #include <mathlib/mathlib.h>
 #include <px4_module_params.h>
-#include <systemlib/hysteresis/hysteresis.h>
+#include <hysteresis/hysteresis.h>
 
 // subscriptions
 #include <uORB/Subscription.hpp>