diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 39e48b37ef..780efbcc3e 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -3067,8 +3067,8 @@ Commander::run()
 			main_state_changed = false;
 		}
 
-		/* publish states (armed, control_mode, vehicle_status, commander_state, vehicle_status_flags) at least with 5 Hz */
-		if (counter % (200000 / COMMANDER_MONITORING_INTERVAL) == 0 || status_changed) {
+		/* publish states (armed, control_mode, vehicle_status, commander_state, vehicle_status_flags) at 1 Hz or immediately when changed */
+		if (hrt_elapsed_time(&control_mode.timestamp) >= 1000000 || status_changed) {
 			set_control_mode();
 			control_mode.timestamp = now;
 			orb_publish(ORB_ID(vehicle_control_mode), control_mode_pub, &control_mode);