diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 948b08bd77c..bdc43cd8790 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -95,6 +95,7 @@ set(msg_files
 	gimbal_manager_status.msg
 	gps_dump.msg
 	gps_inject_data.msg
+	health_report.msg
 	heater_status.msg
 	home_position.msg
 	hover_thrust_estimate.msg
diff --git a/msg/health_report.msg b/msg/health_report.msg
new file mode 100644
index 00000000000..5d38e6db2ac
--- /dev/null
+++ b/msg/health_report.msg
@@ -0,0 +1,13 @@
+uint64 timestamp # time since system start (microseconds)
+
+uint64 can_arm_mode_flags              # bitfield for each flight mode (NAVIGATION_STATE_*) if arming is possible
+uint64 can_run_mode_flags              # bitfield for each flight mode if it can run
+
+uint64 health_is_present_flags         # flags for each health_component_t
+uint64 health_warning_flags
+uint64 health_error_flags
+# A component is required but missing, if present==0 and error==1
+
+uint64 arming_check_warning_flags
+uint64 arming_check_error_flags
+
diff --git a/src/modules/commander/HealthAndArmingChecks/Common.cpp b/src/modules/commander/HealthAndArmingChecks/Common.cpp
index ed14d6925b4..74e607120c0 100644
--- a/src/modules/commander/HealthAndArmingChecks/Common.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/Common.cpp
@@ -33,6 +33,31 @@
 
 #include "Common.hpp"
 
+void Report::getHealthReport(health_report_s &report) const
+{
+	const Results &current_results = _results[_current_result];
+	report.can_arm_mode_flags = 0;
+	report.can_run_mode_flags = 0;
+
+	for (int i = 0; i < vehicle_status_s::NAVIGATION_STATE_MAX; ++i) {
+		NavModes group = getModeGroup(i);
+
+		if ((uint32_t)(current_results.arming_checks.can_arm & group)) {
+			report.can_arm_mode_flags |= 1ull << i;
+		}
+
+		if ((uint32_t)(current_results.arming_checks.can_run & group)) {
+			report.can_run_mode_flags |= 1ull << i;
+		}
+	}
+
+	report.arming_check_error_flags = (uint64_t)current_results.arming_checks.error;
+	report.arming_check_warning_flags = (uint64_t)current_results.arming_checks.warning;
+	report.health_is_present_flags = (uint64_t)current_results.health.is_present;
+	report.health_error_flags = (uint64_t)current_results.health.error;
+	report.health_warning_flags = (uint64_t)current_results.health.warning;
+}
+
 void Report::healthFailure(NavModes required_modes, HealthComponentIndex component, uint32_t event_id,
 			   const events::LogLevels &log_levels, const char *message)
 {
diff --git a/src/modules/commander/HealthAndArmingChecks/Common.hpp b/src/modules/commander/HealthAndArmingChecks/Common.hpp
index 290898619b6..3a73ea554b6 100644
--- a/src/modules/commander/HealthAndArmingChecks/Common.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/Common.hpp
@@ -36,6 +36,7 @@
 #include <px4_platform_common/events.h>
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/module_params.h>
+#include <uORB/topics/health_report.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_status_flags.h>
 
@@ -207,6 +208,8 @@ public:
 		       (uint32_t)(_results[_current_result].arming_checks.can_run & getModeGroup(nav_state)) != 0;
 	}
 
+	void getHealthReport(health_report_s &report) const;
+
 	/**
 	 * Report a health failure. A health issue generally refers to a hardware issue, independent from environment
 	 * or e.g. calibration.
diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
index a4a8e25806f..66c3a098a54 100644
--- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
@@ -57,6 +57,10 @@ bool HealthAndArmingChecks::update(bool force_reporting)
 
 	if (_reporter.report(_context.isArmed(), force_reporting)) {
 
+		health_report_s health_report;
+		_reporter.getHealthReport(health_report);
+		health_report.timestamp = hrt_absolute_time();
+		_health_report_pub.publish(health_report);
 		return true;
 	}
 
diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
index 871822faddb..0493a7f5769 100644
--- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
@@ -36,6 +36,8 @@
 #include "Common.hpp"
 
 #include <px4_platform_common/module_params.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/health_report.h>
 
 class HealthAndArmingChecks : public ModuleParams
 {
@@ -62,6 +64,8 @@ private:
 	Context _context;
 	Report _reporter;
 
+	uORB::Publication<health_report_s> _health_report_pub{ORB_ID(health_report)};
+
 	// all checks
 	HealthAndArmingCheckBase *_checks[10] = {
 	};