diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 7b92942b33..d524aab787 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -143,7 +143,9 @@ static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60;		/**< Maximum percentage
 #define DIFFPRESS_TIMEOUT		2000000
 
 #define PRINT_INTERVAL	5000000
-#define PRINT_MODE_REJECT_INTERVAL	2000000
+#define PRINT_MODE_REJECT_INTERVAL	10000000
+
+#define INAIR_RESTART_HOLDOFF_INTERVAL	2000000
 
 enum MAV_MODE_FLAG {
 	MAV_MODE_FLAG_CUSTOM_MODE_ENABLED = 1, /* 0b00000001 Reserved for future use. | */
@@ -347,6 +349,7 @@ int commander_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "arm")) {
 		int mavlink_fd_local = open(MAVLINK_LOG_DEVICE, 0);
 		arm_disarm(true, mavlink_fd_local, "command line");
+		warnx("note: not updating home position on commandline arming!");
 		close(mavlink_fd_local);
 		exit(0);
 	}
@@ -478,6 +481,11 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 			// Transition the arming state
 			arming_ret = arm_disarm(base_mode & MAV_MODE_FLAG_SAFETY_ARMED, mavlink_fd, "set mode command");
 
+			/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
+			if (arming_ret == TRANSITION_CHANGED && now > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL) {
+				commander_set_home_position(home_pub, _home, local_position, global_position);
+			}
+
 			if (base_mode & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
 				/* use autopilot-specific mode */
 				if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_MANUAL) {
@@ -2023,7 +2031,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
-		else if (arming_state_changed && armed.armed && !was_armed && now > commander_boot_timestamp + 2000000) {
+		else if (arming_state_changed && armed.armed && !was_armed && now > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL) {
 			commander_set_home_position(home_pub, _home, local_position, global_position);
 		}