diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg
index 9ae21ea088..923f62c569 100644
--- a/msg/vehicle_status_flags.msg
+++ b/msg/vehicle_status_flags.msg
@@ -34,4 +34,5 @@ bool rc_calibration_valid                            # set if RC calibration is
 bool vtol_transition_failure                        # Set to true if vtol transition failed
 bool usb_connected                                # status of the USB power supply
 
-bool avoidance_system_valid                       # status of the obstacle avoidance system
+bool avoidance_system_required					  # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
+bool avoidance_system_valid                       # Status of the obstacle avoidance system
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index dabac85664..61fa45cef5 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -123,6 +123,7 @@ static constexpr uint64_t HOTPLUG_SENS_TIMEOUT = 8_s;	/**< wait for hotplug sens
 static constexpr uint64_t PRINT_MODE_REJECT_INTERVAL = 500_ms;
 static constexpr uint64_t INAIR_RESTART_HOLDOFF_INTERVAL = 500_ms;
 
+static constexpr uint8_t AVOIDANCE_MAX_TRIALS = 4;  /* Maximum number of trials for avoidance system to start */
 /* Mavlink log uORB handle */
 static orb_advert_t mavlink_log_pub = nullptr;
 static orb_advert_t power_button_state_pub = nullptr;
@@ -173,6 +174,8 @@ static float _eph_threshold_adj =
 	INFINITY;	///< maximum allowable horizontal position uncertainty after adjustment for flight condition
 static bool _skip_pos_accuracy_check = false;
 
+static int avoidance_waiting_count = 0;
+
 /**
  * The daemon app only briefly exists to start
  * the background job. The stack size assigned in the
@@ -580,7 +583,11 @@ Commander::Commander() :
 
 	status_flags.condition_power_input_valid = true;
 	status_flags.rc_calibration_valid = true;
+
+	status_flags.avoidance_system_required = _obs_avoid.get();
 	status_flags.avoidance_system_valid = false;
+
+
 }
 
 Commander::~Commander()
@@ -3954,12 +3961,18 @@ void Commander::data_link_check(bool &status_changed)
 	}
 
 	// AVOIDANCE SYSTEM state check (only if it is enabled)
-	if (_obs_avoid.get() && !_onboard_controller_lost) {
+	if (status_flags.avoidance_system_required && !_onboard_controller_lost) {
 
 		//if avoidance never started
-		if (_datalink_last_heartbeat_avoidance_system == 0 && hrt_elapsed_time(&_avoidance_system_not_started) > 5_s) {
+		if (_datalink_last_heartbeat_avoidance_system == 0 && hrt_elapsed_time(&_avoidance_system_not_started) > 5_s
+		    && avoidance_waiting_count < AVOIDANCE_MAX_TRIALS) {
 			_avoidance_system_not_started = hrt_absolute_time();
 			mavlink_log_info(&mavlink_log_pub, "Waiting for avoidance system to start");
+			avoidance_waiting_count++;
+
+		} else if (avoidance_waiting_count == AVOIDANCE_MAX_TRIALS) {
+			mavlink_log_critical(&mavlink_log_pub, "Avoidance system stuck. Try reboot vehicle.");
+			avoidance_waiting_count++;
 		}
 
 		//if heartbeats stop
@@ -3979,6 +3992,7 @@ void Commander::data_link_check(bool &status_changed)
 			if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_ACTIVE) {
 				mavlink_log_info(&mavlink_log_pub, "Avoidance system healthy");
 				status_flags.avoidance_system_valid = true;
+				avoidance_waiting_count = 0;
 			}
 
 			if (_datalink_last_status_avoidance_system == telemetry_status_s::MAV_STATE_CRITICAL) {
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index ab0b5fb788..e3b0313116 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -802,6 +802,7 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
  * Temporary Parameter to enable interface testing
  *
  * @boolean
+ * @reboot_required true
  * @group Mission
  */
 PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
\ No newline at end of file
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 26c5fb5ad7..a372372e33 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -999,9 +999,9 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 		}
 	}
 
-	if (!status_flags.avoidance_system_valid) {
+	if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
 		if (prearm_ok && reportFailures) {
-			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: AVOIDANCE SYSTEM NOT READY");
+			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Avoidance system not ready");
 		}
 
 		prearm_ok = false;