diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index fc26a052ff..03a16c9951 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2672,6 +2672,28 @@ void Commander::enable_hil()
 
 void Commander::dataLinkCheck()
 {
+	// high latency data link
+	iridiumsbd_status_s iridium_status;
+
+	if (_iridiumsbd_status_sub.update(&iridium_status)) {
+		_high_latency_datalink_heartbeat = iridium_status.last_heartbeat;
+
+		if (_vehicle_status.high_latency_data_link_lost &&
+		    (_high_latency_datalink_heartbeat > _high_latency_datalink_lost) &&
+		    (_high_latency_datalink_regained == 0)
+		   ) {
+			_high_latency_datalink_regained = _high_latency_datalink_heartbeat;
+		}
+
+		if (_vehicle_status.high_latency_data_link_lost &&
+		    (_high_latency_datalink_regained != 0) &&
+		    (hrt_elapsed_time(&_high_latency_datalink_regained) > (_param_com_hldl_reg_t.get() * 1_s))
+		   ) {
+			_vehicle_status.high_latency_data_link_lost = false;
+			_status_changed = true;
+		}
+	}
+
 	for (auto &telemetry_status :  _telemetry_status_subs) {
 		telemetry_status_s telemetry;
 
@@ -2685,16 +2707,18 @@ void Commander::dataLinkCheck()
 				break;
 
 			case telemetry_status_s::LINK_TYPE_IRIDIUM: {
-					iridiumsbd_status_s iridium_status;
 
-					if (_iridiumsbd_status_sub.update(&iridium_status)) {
-						_high_latency_datalink_heartbeat = iridium_status.last_heartbeat;
+					if ((_high_latency_datalink_heartbeat > 0) &&
+					    (hrt_elapsed_time(&_high_latency_datalink_heartbeat) > (_param_com_hldl_loss_t.get() * 1_s))) {
 
-						if (_vehicle_status.high_latency_data_link_lost) {
-							if (hrt_elapsed_time(&_high_latency_datalink_lost) > (_param_com_hldl_reg_t.get() * 1_s)) {
-								_vehicle_status.high_latency_data_link_lost = false;
-								_status_changed = true;
-							}
+						_high_latency_datalink_lost = _high_latency_datalink_heartbeat;
+						_high_latency_datalink_regained = 0;
+
+						if (!_vehicle_status.high_latency_data_link_lost) {
+							_vehicle_status.high_latency_data_link_lost = true;
+							mavlink_log_critical(&_mavlink_log_pub, "High latency data link lost\t");
+							events::send(events::ID("commander_high_latency_lost"), events::Log::Critical, "High latency data link lost");
+							_status_changed = true;
 						}
 					}
 
@@ -2836,19 +2860,6 @@ void Commander::dataLinkCheck()
 			_vehicle_status.avoidance_system_valid = false;
 		}
 	}
-
-	// high latency data link loss failsafe
-	if (_high_latency_datalink_heartbeat > 0
-	    && hrt_elapsed_time(&_high_latency_datalink_heartbeat) > (_param_com_hldl_loss_t.get() * 1_s)) {
-		_high_latency_datalink_lost = hrt_absolute_time();
-
-		if (!_vehicle_status.high_latency_data_link_lost) {
-			_vehicle_status.high_latency_data_link_lost = true;
-			mavlink_log_critical(&_mavlink_log_pub, "High latency data link lost\t");
-			events::send(events::ID("commander_high_latency_lost"), events::Log::Critical, "High latency data link lost");
-			_status_changed = true;
-		}
-	}
 }
 
 void Commander::battery_status_check()
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index d477585c03..e98132227d 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -248,6 +248,7 @@ private:
 
 	hrt_abstime _high_latency_datalink_heartbeat{0};
 	hrt_abstime _high_latency_datalink_lost{0};
+	hrt_abstime	_high_latency_datalink_regained{0};
 
 	hrt_abstime _boot_timestamp{0};
 	hrt_abstime _last_disarmed_timestamp{0};