diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 7f4edb57a6..059ff50fb6 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -160,6 +160,21 @@ then
 	param set WEST_EN 0
 fi
 
+# Adapt timeout parameters if simulation runs faster or slower than realtime.
+if [ ! -z $PX4_SIM_SPEED_FACTOR ]; then
+	COM_DL_LOSS_T_LONGER=$(($PX4_SIM_SPEED_FACTOR * 10))
+	echo "COM_DL_LOSS_T set to $COM_DL_LOSS_T_LONGER"
+	param set COM_DL_LOSS_T $COM_DL_LOSS_T_LONGER
+
+	COM_RC_LOSS_T_LONGER=$(($PX4_SIM_SPEED_FACTOR * 1))
+	echo "COM_RC_LOSS_T set to $COM_RC_LOSS_T_LONGER"
+	param set COM_RC_LOSS_T $COM_RC_LOSS_T_LONGER
+
+	COM_OF_LOSS_T_LONGER=$(($PX4_SIM_SPEED_FACTOR * 10))
+	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
+	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
+fi
+
 # Autostart ID
 autostart_file=''
 for f in etc/init.d-posix/"$(param show -q SYS_AUTOSTART)"_*