diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
index 90e3f28e38..8d575f74e5 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
@@ -656,30 +656,20 @@ void EstimatorChecks::deadReckoningTimeout(const Context &context, Report &repor
 	_vehicle_land_detected_sub.copy(&vehicle_land_detected);
 	_in_air_valid = (now < vehicle_land_detected.timestamp + 2_s) && !vehicle_land_detected.landed;
 
-	bool dead_reckoning_valid_but_timouted = false;
-	bool dead_reckoning_changed = _was_dead_reckoning != lpos.dead_reckoning;
+	if (!lpos.dead_reckoning || !_in_air_valid) {
+		_last_not_dead_reckoning_time_us = now;
 
-	if (dead_reckoning_changed && _in_air_valid) {
-		if (lpos.dead_reckoning) {
-			_last_initiated_dead_reckoning_time_us = now;
-
-		} else {
-			reporter.failsafeFlags().mode_req_dead_reckoning_invalid = true;
-			reporter.failsafeFlags().dead_reckoning_invalid = false;
-			_last_initiated_dead_reckoning_time_us = 0;
-		}
 	}
 
+	bool dead_reckoning_valid_but_timouted = false;
 
-	if (reporter.failsafeFlags().mode_req_dead_reckoning_invalid
-	    && !reporter.failsafeFlags().dead_reckoning_invalid) {
+	if ((reporter.failsafeFlags().mode_req_global_position && !reporter.failsafeFlags().global_position_invalid) ||
+	    (reporter.failsafeFlags().mode_req_global_position_relaxed
+	     && !reporter.failsafeFlags().global_position_invalid_relaxed) ||
+	    (reporter.failsafeFlags().mode_req_local_position && !reporter.failsafeFlags().local_position_invalid)) {
 
-		dead_reckoning_valid_but_timouted = (_param_com_dead_reckoning_tout_t.get() > FLT_EPSILON
-						     && lpos.dead_reckoning
-						     && now > _last_initiated_dead_reckoning_time_us + _param_com_dead_reckoning_tout_t.get() * 1_s);
-
-		reporter.failsafeFlags().dead_reckoning_invalid = dead_reckoning_valid_but_timouted;
-		reporter.failsafeFlags().mode_req_dead_reckoning_invalid = !dead_reckoning_valid_but_timouted;
+		dead_reckoning_valid_but_timouted = (_last_not_dead_reckoning_time_us != 0
+						     && now > _last_not_dead_reckoning_time_us + _param_com_dead_reckoning_tout_t.get() * 1_s);
 	}
 
 	if (dead_reckoning_valid_but_timouted && _param_com_dead_reckoning_tout_act.get()) {
@@ -703,7 +693,7 @@ void EstimatorChecks::deadReckoningTimeout(const Context &context, Report &repor
 		}
 	}
 
-	_was_dead_reckoning = lpos.dead_reckoning;
+	reporter.failsafeFlags().dead_reckoning_invalid = dead_reckoning_valid_but_timouted;
 }
 
 void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading,
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
index 8a7ea3ebd0..bc23df6e99 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
@@ -103,12 +103,11 @@ private:
 	hrt_abstime	_last_lpos_fail_time_us{0};	///< Last time that the local position validity recovery check failed (usec)
 	hrt_abstime	_last_lpos_relaxed_fail_time_us{0};	///< Last time that the relaxed local position validity recovery check failed (usec)
 	hrt_abstime	_last_lvel_fail_time_us{0};	///< Last time that the local velocity validity recovery check failed (usec)
-	hrt_abstime	_last_initiated_dead_reckoning_time_us{0};	///< Last time that the dead reckoning initiated (usec)
+	hrt_abstime	_last_not_dead_reckoning_time_us{0};	///< Last time that the dead reckoning initiated (usec)
 
 	bool _gps_was_fused{false};
 	bool _gnss_spoofed{false};
 	bool _in_air_valid{false};
-	bool _was_dead_reckoning{false};
 
 	bool _nav_failure_imminent_warned{false};
 
diff --git a/src/modules/commander/ModeUtil/mode_requirements.cpp b/src/modules/commander/ModeUtil/mode_requirements.cpp
index 96a2568f37..3f1c0bd500 100644
--- a/src/modules/commander/ModeUtil/mode_requirements.cpp
+++ b/src/modules/commander/ModeUtil/mode_requirements.cpp
@@ -98,7 +98,6 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	if (vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
 		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_global_position_relaxed);
 		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_local_position_relaxed);
-		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_dead_reckoning_invalid);
 
 	} else {
 		setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION, flags.mode_req_global_position);
diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp
index 2e1a94e94f..dd8f1bc8aa 100644
--- a/src/modules/commander/failsafe/failsafe.cpp
+++ b/src/modules/commander/failsafe/failsafe.cpp
@@ -550,7 +550,8 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 	}
 
 	// trigger dead reckoning Timeout Failsafe (only in auto mission)
-	if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION) {
+	if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ||
+	    state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
 		CHECK_FAILSAFE(status_flags, dead_reckoning_invalid, fromPosLowActParam(_param_com_dead_reckoning_tout_act.get()));
 	}