diff --git a/libraries/AP_HAL_PX4/Storage.cpp b/libraries/AP_HAL_PX4/Storage.cpp
index be4945147a..5eb8df3d66 100644
--- a/libraries/AP_HAL_PX4/Storage.cpp
+++ b/libraries/AP_HAL_PX4/Storage.cpp
@@ -267,7 +267,19 @@ void PX4Storage::_flash_write(uint16_t line)
 bool PX4Storage::_flash_write_data(uint8_t sector, uint32_t offset, const uint8_t *data, uint16_t length)
 {
     size_t base_address = up_progmem_getaddress(_flash_page+sector);
-    return up_progmem_write(base_address+offset, data, length) == length;
+    bool ret = up_progmem_write(base_address+offset, data, length) == length;
+    if (!ret && _flash_erase_ok()) {
+        // we are getting flash write errors while disarmed. Try
+        // re-writing all of flash
+        uint32_t now = AP_HAL::millis();
+        if (now - _last_re_init_ms > 5000) {
+            _last_re_init_ms = now;
+            bool ok = _flash.re_initialise();
+            printf("Storage: failed at %u:%u for %u - re-init %u\n",
+                   sector, offset, length, (unsigned)ok);
+        }
+    }
+    return ret;
 }
 
 /*
diff --git a/libraries/AP_HAL_PX4/Storage.h b/libraries/AP_HAL_PX4/Storage.h
index 6ec3b4b27f..4bcf3d220b 100644
--- a/libraries/AP_HAL_PX4/Storage.h
+++ b/libraries/AP_HAL_PX4/Storage.h
@@ -46,6 +46,7 @@ private:
     Bitmask _dirty_mask{PX4_STORAGE_NUM_LINES};
     perf_counter_t  _perf_storage;
     perf_counter_t  _perf_errors;
+    uint32_t _last_re_init_ms;
 
 #if !USE_FLASH_STORAGE
     int _fd = -1;