diff --git a/src/modules/uxrce_dds_client/dds_topics.h.em b/src/modules/uxrce_dds_client/dds_topics.h.em
index e69c8cde90..1d7b15d69f 100644
--- a/src/modules/uxrce_dds_client/dds_topics.h.em
+++ b/src/modules/uxrce_dds_client/dds_topics.h.em
@@ -120,6 +120,7 @@ void SendTopicsSubs::reset() {
 		send_subscriptions[idx].data_writer = uxr_object_id(0, UXR_INVALID_ID);
 		orb_unsubscribe(fds[idx].fd);
 		fds[idx].fd = -1;
+		fds[idx].events = 0;  // force re-subscribe on reconnect (init() skips when events != 0)
 	}
 };
 
diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
index b773bc0e5e..26628a486b 100644
--- a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
+++ b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp
@@ -386,6 +386,11 @@ void UxrceddsClient::deleteSession(uxrSession *session)
 		_session_created = false;
 	}
 
+	if (_subs) {
+		_subs->reset();
+	}
+
+	_connected = false;
 	_last_payload_tx_rate = 0;
 	_timesync.reset_filter();
 }
@@ -709,6 +714,7 @@ void UxrceddsClient::run()
 			/* PONG_IN_SESSION_STATUS */
 			if (session.on_pong_flag == 1) {
 				_had_ping_reply = true;
+				session.on_pong_flag = 0;
 			}
 
 			// Calculate the payload tx/rx rate for connectivity monitoring
@@ -720,6 +726,7 @@ void UxrceddsClient::run()
 			perf_end(_loop_perf);
 		}
 
+		PX4_INFO("session disconnected, attempting to reconnect...");
 		deleteSession(&session);
 	}
 }