diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index 34eb92089a..2cf3608e5b 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -255,10 +255,9 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
 	// First wait for some ESC telemetry that has the required fields. Before that happens, don't check this ESC
 	// Then check
 
-	const hrt_abstime time_now = hrt_absolute_time();
-
 	// Only check while armed
 	if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+		const hrt_abstime now = hrt_absolute_time();
 		const int limited_esc_count = math::min(esc_status.esc_count, esc_status_s::CONNECTED_ESC_MAX);
 
 		actuator_motors_s actuator_motors{};
@@ -282,9 +281,7 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
 			}
 
 			// Check for telemetry timeout
-			const hrt_abstime telemetry_age = time_now - cur_esc_report.timestamp;
-			const bool esc_timed_out = telemetry_age > 300_ms;
-
+			const bool esc_timed_out = now > cur_esc_report.timestamp + 300_ms;
 			const bool esc_was_valid = _motor_failure_esc_valid_current_mask & (1 << i_esc);
 			const bool esc_timeout_currently_flagged = _motor_failure_esc_timed_out_mask & (1 << i_esc);
 
@@ -315,7 +312,7 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
 
 				if (throttle_above_threshold && current_too_low && !esc_timed_out) {
 					if (_motor_failure_undercurrent_start_time[i_esc] == 0) {
-						_motor_failure_undercurrent_start_time[i_esc] = time_now;
+						_motor_failure_undercurrent_start_time[i_esc] = now;
 					}
 
 				} else {
@@ -325,7 +322,7 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
 				}
 
 				if (_motor_failure_undercurrent_start_time[i_esc] != 0
-				    && (time_now - _motor_failure_undercurrent_start_time[i_esc]) > _param_fd_motor_time_thres.get() * 1_ms
+				    && now > (_motor_failure_undercurrent_start_time[i_esc] + (_param_fd_motor_time_thres.get() * 1_ms))
 				    && (_motor_failure_esc_under_current_mask & (1 << i_esc)) == 0) {
 					// Set flag
 					_motor_failure_esc_under_current_mask |= (1 << i_esc);