diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 255bc0b1d6..bda82b74f4 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2546,7 +2546,7 @@ Commander::run()
 						       (offboard_loss_actions_t)_param_com_obl_act.get(),
 						       (offboard_loss_rc_actions_t)_param_com_obl_rc_act.get(),
 						       (position_nav_loss_actions_t)_param_com_posctl_navl.get(),
-						       _param_com_ll_delay.get());
+						       _param_com_rcl_act_t.get());
 
 		if (nav_state_changed) {
 			_status.nav_state_timestamp = hrt_absolute_time();
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 576ac7655d..e171fc0199 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -189,13 +189,13 @@ private:
 
 		(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
 		(ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,
-		(ParamFloat<px4::params::COM_LL_DELAY>) _param_com_ll_delay,
 
 		(ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
 		(ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,
 
 		(ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
 		(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
+		(ParamFloat<px4::params::COM_RCL_ACT_T>) _param_com_rcl_act_t,
 
 		(ParamFloat<px4::params::COM_HOME_H_T>) _param_com_home_h_t,
 		(ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 9795f1f5bc..ca8f0de3f8 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -174,7 +174,7 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
 /**
  * RC loss time threshold
  *
- * After this amount of seconds without RC connection the rc lost flag is set to true
+ * After this amount of seconds without RC connection it's considered lost and not used anymore
  *
  * @group Commander
  * @unit s
@@ -185,6 +185,23 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
  */
 PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
 
+/**
+ * Delay between RC loss and configured reaction
+ *
+ * RC signal not updated -> still use data for COM_RC_LOSS_T seconds
+ * Consider RC signal lost -> wait COM_RCL_ACT_T seconds on the spot waiting to regain signal
+ * React with failsafe action NAV_RCL_ACT
+ *
+ * A zero value disables the delay.
+ *
+ * @group Commander
+ * @unit s
+ * @min 0.0
+ * @max 25.0
+ * @decimal 3
+ */
+PARAM_DEFINE_FLOAT(COM_RCL_ACT_T, 15.0f);
+
 /**
  * Home set horizontal threshold
  *
@@ -968,18 +985,3 @@ PARAM_DEFINE_FLOAT(COM_LKDOWN_TKO, 3.0f);
 * @value 1 Enabled
 */
 PARAM_DEFINE_INT32(COM_ARM_ARSP_EN, 1);
-
-/**
- * Delay between RC loss and configured reaction
- *
- * A non-zero, positive value makes the failsafe reaction first stop the vehicle and wait
- * before proceeding with the configured failsafe reaction NAV_RCL_ACT.
- * A zero or negative value disables the delay.
- *
- * @group Commander
- * @unit s
- * @min -1.0
- * @max 25.0
- * @decimal 3
- */
-PARAM_DEFINE_FLOAT(COM_LL_DELAY, 15.0f);
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index e37c4aa788..b0a30b6ae7 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -409,7 +409,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 		   const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act,
 		   const offboard_loss_rc_actions_t offb_loss_rc_act,
 		   const position_nav_loss_actions_t posctl_nav_loss_act,
-		   const float param_com_ll_delay)
+		   const float param_com_rcl_act_t)
 {
 	const navigation_state_t nav_state_old = status->nav_state;
 
@@ -438,7 +438,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 		if (rc_lost && is_armed) {
 			enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
 
-			set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_ll_delay);
+			set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
 
 		} else {
 			switch (internal_state->main_state) {
@@ -474,7 +474,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 
 			if (rc_lost && is_armed) {
 				enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_rc);
-				set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_ll_delay);
+				set_link_loss_nav_state(status, armed, status_flags, internal_state, rc_loss_act, param_com_rcl_act_t);
 
 				/* As long as there is RC, we can fallback to ALTCTL, or STAB. */
 				/* A local position estimate is enough for POSCTL for multirotors,
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 0adb54602d..fc28a54de1 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -132,7 +132,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 		   const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act,
 		   const offboard_loss_rc_actions_t offb_loss_rc_act,
 		   const position_nav_loss_actions_t posctl_nav_loss_act,
-		   const float param_com_ll_delay);
+		   const float param_com_rcl_act_t);
 
 /*
  * Checks the validty of position data against the requirements of the current navigation