diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 5fc8ee4d8f..fef03b92c2 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2268,7 +2268,8 @@ void Commander::handleAutoDisarm()
 				_auto_disarm_landed.set_state_and_update(_vehicle_land_detected.landed, hrt_absolute_time());
 
 			} else if (_param_com_disarm_prflt.get() > 0 && !_have_taken_off_since_arming) {
-				_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_prflt.get() * 1_s);
+				_auto_disarm_landed.set_hysteresis_time_from(false,
+						(_param_com_spoolup_time.get() + _param_com_disarm_prflt.get()) * 1_s);
 				_auto_disarm_landed.set_state_and_update(true, hrt_absolute_time());
 			}
 
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index cf69743af6..04c1a0d05a 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -330,7 +330,6 @@ private:
 	param_t _param_rc_map_fltmode{PARAM_INVALID};
 
 	DEFINE_PARAMETERS(
-
 		(ParamFloat<px4::params::COM_DISARM_LAND>)  _param_com_disarm_land,
 		(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_prflt,
 		(ParamBool<px4::params::COM_DISARM_MAN>)    _param_com_disarm_man,
@@ -347,6 +346,7 @@ private:
 		(ParamFloat<px4::params::COM_OBC_LOSS_T>)   _param_com_obc_loss_t,
 		(ParamInt<px4::params::COM_PREARM_MODE>)    _param_com_prearm_mode,
 		(ParamInt<px4::params::COM_RC_OVERRIDE>)    _param_com_rc_override,
+		(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time,
 		(ParamInt<px4::params::COM_FLIGHT_UUID>)    _param_com_flight_uuid,
 		(ParamInt<px4::params::COM_TAKEOFF_ACT>)    _param_com_takeoff_act,
 		(ParamFloat<px4::params::COM_CPU_MAX>)      _param_com_cpu_max