diff --git a/msg/FailsafeFlags.msg b/msg/FailsafeFlags.msg
index 7455313732..8271298f11 100644
--- a/msg/FailsafeFlags.msg
+++ b/msg/FailsafeFlags.msg
@@ -15,6 +15,7 @@ uint32 mode_req_global_position
 uint32 mode_req_mission
 uint32 mode_req_offboard_signal
 uint32 mode_req_home_position
+uint32 mode_req_wind_and_flight_time_compliance # if set, mode cannot be entered if wind or flight time limit exceeded
 uint32 mode_req_prevent_arming    # if set, cannot arm while in this mode
 uint32 mode_req_other             # other requirements, not covered above (for external modes)
 
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
index 820d2e27d8..7ae7614819 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
@@ -147,6 +147,12 @@ void ModeChecks::checkAndReport(const Context &context, Report &reporter)
 		// Here we expect there is already an event reported for the failing check (this is for external modes)
 		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_other);
 	}
+
+	if ((reporter.failsafeFlags().flight_time_limit_exceeded || reporter.failsafeFlags().wind_limit_exceeded)
+	    && reporter.failsafeFlags().mode_req_wind_and_flight_time_compliance != 0) {
+		// Already reported
+		reporter.clearCanRunBits((NavModes)reporter.failsafeFlags().mode_req_wind_and_flight_time_compliance);
+	}
 }
 
 void ModeChecks::checkArmingRequirement(const Context &context, Report &reporter)
diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp
index ba29627f87..fc48038867 100644
--- a/src/modules/commander/ModeUtil/mode_requirements.cpp
+++ b/src/modules/commander/ModeUtil/mode_requirements.cpp
@@ -54,6 +54,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	flags.mode_req_mission = 0;
 	flags.mode_req_offboard_signal = 0;
 	flags.mode_req_home_position = 0;
+	flags.mode_req_wind_and_flight_time_compliance = 0;
 	flags.mode_req_prevent_arming = 0;
 	flags.mode_req_other = 0;
 
@@ -82,6 +83,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_global_position);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_local_alt);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_mission);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_wind_and_flight_time_compliance);
 
 	// NAVIGATION_STATE_AUTO_LOITER
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_angular_velocity);
@@ -89,6 +91,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_position);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_global_position);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_local_alt);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER, flags.mode_req_wind_and_flight_time_compliance);
 
 	// NAVIGATION_STATE_AUTO_RTL
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_RTL, flags.mode_req_angular_velocity);
@@ -139,6 +142,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_local_position);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_local_alt);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_prevent_arming);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_wind_and_flight_time_compliance);
 
 	// NAVIGATION_STATE_AUTO_PRECLAND
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND, flags.mode_req_angular_velocity);
@@ -153,6 +157,7 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_local_position);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_local_alt);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_prevent_arming);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_ORBIT, flags.mode_req_wind_and_flight_time_compliance);
 
 	// NAVIGATION_STATE_AUTO_VTOL_TAKEOFF
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF, flags.mode_req_angular_velocity);
diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp
index dd969e02c2..69747868f1 100644
--- a/src/modules/commander/failsafe/failsafe.cpp
+++ b/src/modules/commander/failsafe/failsafe.cpp
@@ -393,8 +393,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 
 	CHECK_FAILSAFE(status_flags, wind_limit_exceeded,
 		       ActionOptions(Action::RTL).clearOn(ClearCondition::OnModeChangeOrDisarm));
-	CHECK_FAILSAFE(status_flags, flight_time_limit_exceeded,
-		       ActionOptions(Action::RTL).allowUserTakeover(UserTakeoverAllowed::Never));
+	CHECK_FAILSAFE(status_flags, flight_time_limit_exceeded, ActionOptions(Action::RTL));
 
 	CHECK_FAILSAFE(status_flags, primary_geofence_breached, fromGfActParam(_param_gf_action.get()));
 
diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp
index a8cbcd2cbc..e8e98a51cb 100644
--- a/src/modules/commander/failsafe/framework.cpp
+++ b/src/modules/commander/failsafe/framework.cpp
@@ -614,6 +614,7 @@ uint8_t FailsafeBase::modeFromAction(const Action &action, uint8_t user_intended
 bool FailsafeBase::modeCanRun(const failsafe_flags_s &status_flags, uint8_t mode)
 {
 	uint32_t mode_mask = 1u << mode;
+	// mode_req_wind_and_flight_time_compliance: does not need to be handled here (these are separate failsafe triggers)
 	return
 		(!status_flags.angular_velocity_invalid || ((status_flags.mode_req_angular_velocity & mode_mask) == 0)) &&
 		(!status_flags.attitude_invalid || ((status_flags.mode_req_attitude & mode_mask) == 0)) &&