diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index d416358eeb..e89626300e 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2195,9 +2195,9 @@ int commander_thread_main(int argc, char *argv[])
 					/* report a regain */
 					if (telemetry_last_dl_loss[i] > 0) {
 						mavlink_and_console_log_info(mavlink_fd, "data link #%i regained", i);
-					} else if (telemetry_last_dl_loss[i] == 0){
-					/* do not report a new data link in order to not spam the user */
-						status.data_link_found_new = true;
+					} else if (telemetry_last_dl_loss[i] == 0) {
+						/* new link */
+						status.condition_system_prearm_error_reported = false;
 						status_changed = true;
 					}
 
@@ -2208,10 +2208,6 @@ int commander_thread_main(int argc, char *argv[])
 					/* telemetry was healthy also in last iteration
 					 * we don't have to check a timeout */
 					have_link = true;
-					if(status.data_link_found_new) {
-						status.data_link_found_new = false;
-						status_changed = true;
-					}
 				}
 
 			} else {
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 295ea3dcd2..c2f7126e85 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -123,6 +123,7 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 		/* only perform the pre-arm check if we have to */
 		if (fRunPreArmChecks && new_arming_state == vehicle_status_s::ARMING_STATE_ARMED
 				&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
+
 			prearm_ret = preflight_check(status, mavlink_fd, true /* pre-arm */ );
 		}
 		/* re-run the pre-flight check as long as sensors are failing */
@@ -130,6 +131,7 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 				&& (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED ||
 				    new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY)
              			&& status->hil_state == vehicle_status_s::HIL_STATE_OFF) {
+
             		prearm_ret = preflight_check(status, mavlink_fd, false /* pre-flight */);
 			status->condition_system_sensors_initialized = !prearm_ret;
 		}
@@ -272,10 +274,6 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 			valid_transition) {
 			status->condition_system_prearm_error_reported = false;
 		}
-		if(status->data_link_found_new == true)
-		{
-			status->condition_system_prearm_error_reported = false;
-		}
 
 		/* end of atomic state update */
 		#ifdef __PX4_NUTTX
@@ -743,7 +741,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
 	return status->nav_state != nav_state_old;
 }
 
-int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd, bool prearm, bool force_report)
+int preflight_check(struct vehicle_status_s *status, const int mavlink_fd, bool prearm, bool force_report)
 {
 	/* 
 	 */
@@ -761,7 +759,14 @@ int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd,
 		
 	if (!status->cb_usb && status->usb_connected && prearm) {
 		preflight_ok = false;
-		if(reportFailures) mavlink_and_console_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
+		if (reportFailures) {
+			mavlink_and_console_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
+		}
+	}
+
+	/* report once, then set the flag */
+	if (mavlink_fd >= 0 && reportFailures && !preflight_ok) {
+		status->condition_system_prearm_error_reported = true;
 	}
 
 	return !preflight_ok;
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index 19b9394e3d..7c209cf07f 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -65,6 +65,6 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 
 bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished, const bool stay_in_failsafe);
 
-int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd, bool prearm, bool force_report=false);
+int preflight_check(struct vehicle_status_s *status, const int mavlink_fd, bool prearm, bool force_report=false);
 
 #endif /* STATE_MACHINE_HELPER_H_ */