diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 642973dda4..8e41b2ac56 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -716,6 +716,8 @@ Commander::Commander() :
 	}
 
 	updateParameters();
+
+	_failsafe.setOnNotifyUserCallback(&Commander::onFailsafeNotifyUserTrampoline, this);
 }
 
 Commander::~Commander()
@@ -3000,6 +3002,20 @@ void Commander::send_parachute_command()
 	set_tune_override(tune_control_s::TUNE_ID_PARACHUTE_RELEASE);
 }
 
+void Commander::onFailsafeNotifyUserTrampoline(void *arg)
+{
+	Commander *commander = static_cast<Commander *>(arg);
+	commander->onFailsafeNotifyUser();
+}
+
+void Commander::onFailsafeNotifyUser()
+{
+	// If we are about to inform about a failsafe, we need to ensure any pending health report is sent out first,
+	// as the failsafe message might reference that. This is only needed in case the report is currently rate-limited,
+	// i.e. it had a recent previous change already.
+	_health_and_arming_checks.reportIfUnreportedDifferences();
+}
+
 int Commander::print_usage(const char *reason)
 {
 	if (reason) {
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 6dddf0777f..e5bdb947aa 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -200,6 +200,9 @@ private:
 
 	void modeManagementUpdate();
 
+	static void onFailsafeNotifyUserTrampoline(void *arg);
+	void onFailsafeNotifyUser();
+
 	enum class PrearmedMode {
 		DISABLED = 0,
 		SAFETY_BUTTON = 1,
diff --git a/src/modules/commander/HealthAndArmingChecks/Common.cpp b/src/modules/commander/HealthAndArmingChecks/Common.cpp
index 796427180f..f8d3982c5b 100644
--- a/src/modules/commander/HealthAndArmingChecks/Common.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/Common.cpp
@@ -317,3 +317,12 @@ bool Report::report(bool is_armed, bool force)
 			       current_results.health.error, current_results.health.warning);
 	return true;
 }
+
+bool Report::reportIfUnreportedDifferences(bool is_armed)
+{
+	if (_had_unreported_difference) {
+		return report(is_armed, true);
+	}
+
+	return false;
+}
diff --git a/src/modules/commander/HealthAndArmingChecks/Common.hpp b/src/modules/commander/HealthAndArmingChecks/Common.hpp
index 7fb454cbeb..3e6a06248d 100644
--- a/src/modules/commander/HealthAndArmingChecks/Common.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/Common.hpp
@@ -339,6 +339,11 @@ private:
 
 	bool report(bool is_armed, bool force);
 
+	/**
+	 * Send out any unreported changes if there are any
+	 */
+	bool reportIfUnreportedDifferences(bool is_armed);
+
 	const hrt_abstime _min_reporting_interval;
 
 	/// event buffer: stores current events + arguments.
diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
index dbfea11ce8..2ab153ad8a 100644
--- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
@@ -120,3 +120,8 @@ void HealthAndArmingChecks::updateParams()
 		_checks[i]->updateParams();
 	}
 }
+
+bool HealthAndArmingChecks::reportIfUnreportedDifferences()
+{
+	return _reporter.reportIfUnreportedDifferences(_context.isArmed());
+}
diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
index f0dc8404f2..d04b8d088e 100644
--- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
@@ -88,6 +88,8 @@ public:
 	 */
 	bool update(bool force_reporting = false, bool is_arming_request = false);
 
+	bool reportIfUnreportedDifferences();
+
 	/**
 	 * Whether arming is possible for a given navigation mode
 	 */
diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp
index 6c0edb58c4..8d633e9f21 100644
--- a/src/modules/commander/failsafe/framework.cpp
+++ b/src/modules/commander/failsafe/framework.cpp
@@ -170,6 +170,10 @@ void FailsafeBase::removeActions(ClearCondition condition)
 
 void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action delayed_action, Cause cause)
 {
+	if (_on_notify_user_cb) {
+		_on_notify_user_cb(_on_notify_user_arg);
+	}
+
 	int delay_s = (_current_delay + 500_ms) / 1_s;
 	PX4_DEBUG("User notification: failsafe triggered (action=%i, delayed_action=%i, cause=%i, delay=%is)", (int)action,
 		  (int)delayed_action, (int)cause, delay_s);
diff --git a/src/modules/commander/failsafe/framework.h b/src/modules/commander/failsafe/framework.h
index 4cd3ac5202..a0ff26601b 100644
--- a/src/modules/commander/failsafe/framework.h
+++ b/src/modules/commander/failsafe/framework.h
@@ -165,6 +165,17 @@ public:
 	bool getDeferFailsafes() const { return _defer_failsafes; }
 	bool failsafeDeferred() const { return _failsafe_defer_started != 0; }
 
+	using UserCallback = void(*)(void *);
+
+	/**
+	 * Register a callback that is called before notifying the user.
+	 */
+	void setOnNotifyUserCallback(UserCallback callback, void *arg)
+	{
+		_on_notify_user_cb = callback;
+		_on_notify_user_arg = arg;
+	}
+
 protected:
 	enum class UserTakeoverAllowed {
 		Always, ///< allow takeover (immediately)
@@ -278,6 +289,9 @@ private:
 
 	orb_advert_t _mavlink_log_pub{nullptr};
 
+	UserCallback _on_notify_user_cb{nullptr};
+	void *_on_notify_user_arg{nullptr};
+
 	DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
 					(ParamFloat<px4::params::COM_FAIL_ACT_T>) 	_param_com_fail_act_t
 				       );