diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 23c899a9f0e3d3f203a0891600c316bd017ec691..a22e8a21c9095ac42c987483d7cdc96da2a187fb 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3964,14 +3964,15 @@ void Commander::data_link_check(bool &status_changed)
 	if (status_flags.avoidance_system_required && !_onboard_controller_lost) {
 
 		//if avoidance never started
-		if (_datalink_last_heartbeat_avoidance_system == 0 && hrt_elapsed_time(&_avoidance_system_not_started) > 10_s
+		if (_datalink_last_heartbeat_avoidance_system == 0
+		    && hrt_elapsed_time(&_avoidance_system_not_started) > _onboard_boot_timeout.get() * 1_s
 		    && avoidance_waiting_count < AVOIDANCE_MAX_TRIALS) {
 			_avoidance_system_not_started = hrt_absolute_time();
 			mavlink_log_info(&mavlink_log_pub, "Waiting for avoidance system to start");
 			avoidance_waiting_count++;
 
 		} else if (avoidance_waiting_count == AVOIDANCE_MAX_TRIALS) {
-			mavlink_log_critical(&mavlink_log_pub, "Avoidance system not responding. Try reboot vehicle.");
+			mavlink_log_critical(&mavlink_log_pub, "Avoidance not responding. Try reboot vehicle.");
 			avoidance_waiting_count++;
 		}
 
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 82c36483859881d9b5c827f9629b4a08fcd634b2..89a1c640c0dbb73f9a2d3a70e056efaa5752b77a 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -117,7 +117,9 @@ private:
 		(ParamInt<px4::params::COM_LOW_BAT_ACT>) _low_bat_action,
 		(ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
 
-		(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid
+		(ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid,
+		(ParamInt<px4::params::COM_ONB_BOOT_T>) _onboard_boot_timeout
+
 	)
 
 	const int64_t POSVEL_PROBATION_MIN = 1_s;	/**< minimum probation duration (usec) */
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index e3b03131164b0b41ddd729591fe04cfd9f8f98d3..336bceafdc340f85ed18ec999e95bb1b770e4d84 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -805,4 +805,18 @@ PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
  * @reboot_required true
  * @group Mission
  */
-PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
\ No newline at end of file
+PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);
+
+/**
+ * Set onboard controller bootup timeout
+ *
+ * This parameter defines the bootup timeout.
+ * After the timeout a mavlink message to warn the user that the system
+ * is still booting up is triggered.
+ *
+ * @group Commander
+ * @unit s
+ * @min 0
+ * @max 120
+ */
+PARAM_DEFINE_INT32(COM_ONB_BOOT_T, 15);
\ No newline at end of file