diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 0349882b1a1d..6b007e399b1e 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -550,7 +550,7 @@ Commander::Commander() :
 	ModuleParams(nullptr),
 	_failure_detector(this)
 {
-	_auto_disarm_landed.set_hysteresis_time_from(false, 10_s);
+	_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s);
 	_auto_disarm_killed.set_hysteresis_time_from(false, 5_s);
 
 	// We want to accept RC inputs as default
@@ -1641,25 +1641,23 @@ Commander::run()
 		// Auto disarm when landed or kill switch engaged
 		if (armed.armed) {
 
-			// Check for auto-disarm on landing
-			if (_param_com_disarm_land.get() > 0) {
+			// Check for auto-disarm on landing or pre-flight
+			if (_param_com_disarm_land.get() > 0 || _param_com_disarm_preflight.get() > 0) {
 
-				if (!have_taken_off_since_arming) {
-					// pilot has ten seconds time to take off
-					_auto_disarm_landed.set_hysteresis_time_from(false, 10_s);
-
-				} else {
+				if (_param_com_disarm_land.get() > 0 && have_taken_off_since_arming) {
 					_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_land.get() * 1_s);
-				}
+					_auto_disarm_landed.set_state_and_update(land_detector.landed, hrt_absolute_time());
 
-				_auto_disarm_landed.set_state_and_update(land_detector.landed, hrt_absolute_time());
+				} else if (_param_com_disarm_preflight.get() > 0 && !have_taken_off_since_arming) {
+					_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s);
+					_auto_disarm_landed.set_state_and_update(true, hrt_absolute_time());
+				}
 
 				if (_auto_disarm_landed.get_state()) {
-					arm_disarm(false, &mavlink_log_pub, "Auto disarm on land");
+					arm_disarm(false, &mavlink_log_pub, "Auto disarm initiated");
 				}
 			}
 
-
 			// Auto disarm after 5 seconds if kill switch is engaged
 			_auto_disarm_killed.set_state_and_update(armed.manual_lockdown, hrt_absolute_time());
 
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index e29f54e44ada..07ea6852e171 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -120,6 +120,7 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 
 		(ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
 		(ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
+		(ParamFloat<px4::params::COM_DISARM_PRFLT>) _param_com_disarm_preflight,
 
 		(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
 		(ParamInt<px4::params::COM_OA_BOOT_T>) _param_com_oa_boot_t,
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index ebe7c7446663..92228686573f 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -262,18 +262,29 @@ PARAM_DEFINE_INT32(COM_RC_ARM_HYST, 1000);
  * A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be
  * automatically disarmed in case a landing situation has been detected during this period.
  *
- * The vehicle will also auto-disarm right after arming if it has not even flown, however the time
- * will always be 10 seconds such that the pilot has enough time to take off.
- *
  * A negative value means that automatic disarming triggered by landing detection is disabled.
  *
  * @group Commander
- * @min -1
- * @max 20
  * @unit s
  * @decimal 2
  */
-PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 2.0f);
+
+PARAM_DEFINE_FLOAT(COM_DISARM_LAND, 5.0f);
+
+/**
+ * Time-out for auto disarm before the first take off
+ *
+ * A non-zero, positive value specifies the time-out period in seconds after which the vehicle will be
+ * automatically disarmed when the vehicle has never taken off.
+ *
+ * A negative value means that automatic disarming triggered by a pre-takeoff timeout is disabled.
+ *
+ * @group Commander
+ * @unit s
+ * @decimal 2
+ */
+PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT,  2.0f);
+
 
 /**
  * Allow arming without GPS