diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 9cf1cdb17d..10b3fe169b 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3558,12 +3558,18 @@ void Commander::data_link_check()
 			switch (telemetry.remote_type) {
 			case telemetry_status_s::MAV_TYPE_GCS:
 
-				// Recover from data link lost
+				// Initial connection or recovery from data link lost
 				if (status.data_link_lost) {
 					if (telemetry.heartbeat_time > _datalink_last_heartbeat_gcs) {
 						status.data_link_lost = false;
 						_status_changed = true;
 
+						if (!armed.armed) {
+							// make sure to report preflight check failures to a connecting GCS
+							PreFlightCheck::preflightCheck(&mavlink_log_pub, status, status_flags,
+										       _arm_requirements.global_position, true, true, hrt_elapsed_time(&_boot_timestamp));
+						}
+
 						if (_datalink_last_heartbeat_gcs != 0) {
 							mavlink_log_info(&mavlink_log_pub, "Data link regained");
 						}