diff --git a/src/modules/commander/HealthAndArmingChecks/CMakeLists.txt b/src/modules/commander/HealthAndArmingChecks/CMakeLists.txt
index a4c7fc16eb..3ae0585fff 100644
--- a/src/modules/commander/HealthAndArmingChecks/CMakeLists.txt
+++ b/src/modules/commander/HealthAndArmingChecks/CMakeLists.txt
@@ -40,6 +40,7 @@ px4_add_library(health_and_arming_checks
checks/armPermissionCheck.cpp
checks/baroCheck.cpp
checks/batteryCheck.cpp
+ checks/companionComputerCheck.cpp
checks/cpuResourceCheck.cpp
checks/distanceSensorChecks.cpp
checks/opticalFlowCheck.cpp
diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
index 577c2a232a..03e11c131f 100644
--- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
@@ -44,6 +44,7 @@
#include "checks/airspeedCheck.hpp"
#include "checks/armPermissionCheck.hpp"
#include "checks/baroCheck.hpp"
+#include "checks/companionComputerCheck.hpp"
#include "checks/cpuResourceCheck.hpp"
#include "checks/distanceSensorChecks.hpp"
#include "checks/opticalFlowCheck.hpp"
@@ -135,6 +136,7 @@ private:
AirspeedChecks _airspeed_checks;
ArmPermissionChecks _arm_permission_checks;
BaroChecks _baro_checks;
+ CompanionComputerChecks _companion_computer_checks;
CpuResourceChecks _cpu_resource_checks;
DistanceSensorChecks _distance_sensor_checks;
OpticalFlowCheck _optical_flow_check;
@@ -170,7 +172,7 @@ private:
ExternalChecks _external_checks;
#endif
- HealthAndArmingCheckBase *_checks[41] = {
+ HealthAndArmingCheckBase *_checks[42] = {
#ifndef CONSTRAINED_FLASH
&_external_checks,
#endif
@@ -178,6 +180,7 @@ private:
&_airspeed_checks,
&_arm_permission_checks,
&_baro_checks,
+ &_companion_computer_checks,
&_cpu_resource_checks,
&_distance_sensor_checks,
&_optical_flow_check,
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/companionComputerCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/companionComputerCheck.cpp
new file mode 100644
index 0000000000..73fab5af99
--- /dev/null
+++ b/src/modules/commander/HealthAndArmingChecks/checks/companionComputerCheck.cpp
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "companionComputerCheck.hpp"
+
+using namespace time_literals;
+
+void CompanionComputerChecks::checkAndReport(const Context &context, Report &reporter)
+{
+ const float temperature_warn_threshold = _param_com_cc_temp_warn.get();
+
+ if (temperature_warn_threshold < FLT_EPSILON) {
+ return;
+ }
+
+ onboard_computer_status_s onboard_computer_status;
+
+ // Skip if no companion computer is connected or reporting.
+ if (!_onboard_computer_status_sub.copy(&onboard_computer_status)
+ || hrt_elapsed_time(&onboard_computer_status.timestamp) > 5_s
+ || onboard_computer_status.temperature_board == INT8_MAX) {
+ return;
+ }
+
+ const float temperature_board = (float)onboard_computer_status.temperature_board;
+
+ if (temperature_board >= temperature_warn_threshold) {
+ /* EVENT
+ * @description
+ * The companion computer temperature is above the warning threshold.
+ *
+ *
+ * The threshold can be adjusted via COM_CC_TEMP_WARN parameter.
+ *
+ */
+ reporter.healthFailure(NavModes::None, health_component_t::system,
+ events::ID("check_companion_computer_temperature_high"),
+ events::Log::Warning, "Companion computer temperature warning, {1} C",
+ onboard_computer_status.temperature_board);
+ }
+}
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/companionComputerCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/companionComputerCheck.hpp
new file mode 100644
index 0000000000..f63d68733b
--- /dev/null
+++ b/src/modules/commander/HealthAndArmingChecks/checks/companionComputerCheck.hpp
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "../Common.hpp"
+
+#include
+#include
+
+class CompanionComputerChecks : public HealthAndArmingCheckBase
+{
+public:
+ CompanionComputerChecks() = default;
+ ~CompanionComputerChecks() = default;
+
+ void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+ uORB::Subscription _onboard_computer_status_sub{ORB_ID(onboard_computer_status)};
+
+ DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+ (ParamFloat) _param_com_cc_temp_warn
+ )
+};
diff --git a/src/modules/commander/commander_params.yaml b/src/modules/commander/commander_params.yaml
index 6f14a5a82f..3fb943abf9 100644
--- a/src/modules/commander/commander_params.yaml
+++ b/src/modules/commander/commander_params.yaml
@@ -595,6 +595,22 @@ parameters:
decimal: 1
increment: 0.1
unit: s
+ COM_CC_TEMP_WARN:
+ description:
+ short: Companion computer high-temperature warning threshold
+ long: |-
+
+
+ Arming is not prevented as the temperature typically drops in flight.
+
+ Set to -1 to disable.
+ type: float
+ default: 80.0
+ min: -1
+ max: 127
+ decimal: 0
+ increment: 1
+ unit: celcius
COM_WIND_WARN:
description:
short: Wind speed warning threshold