diff --git a/flight/libraries/alarms.c b/flight/libraries/alarms.c
index be8e6ec86..1b3bca517 100644
--- a/flight/libraries/alarms.c
+++ b/flight/libraries/alarms.c
@@ -75,8 +75,12 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
 
     // Read alarm and update its severity only if it was changed
     SystemAlarmsGet(&alarms);
-    if (cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity) {
+    uint32_t flightTime = xTaskGetTickCount() * portTICK_RATE_MS;
+    if ((flightTime - cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] > 1000 &&
+         cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity)
+        || cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] < severity) {
         cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity;
+        cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] = flightTime;
         SystemAlarmsSet(&alarms);
     }
 
@@ -110,10 +114,14 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
 
     // Read alarm and update its severity only if it was changed
     SystemAlarmsGet(&alarms);
-    if (cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity) {
+    uint32_t flightTime = xTaskGetTickCount() * portTICK_RATE_MS;
+    if ((flightTime - cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] > 1000 &&
+         cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity)
+        || cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] < severity) {
         cast_struct_to_array(alarms.ExtendedAlarmStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm]    = status;
         cast_struct_to_array(alarms.ExtendedAlarmSubStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = subStatus;
         cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity;
+        cast_struct_to_array(alarms.LastChange, alarms.LastChange.Actuator)[alarm] = flightTime;
         SystemAlarmsSet(&alarms);
     }
 
diff --git a/shared/uavobjectdefinition/systemalarms.xml b/shared/uavobjectdefinition/systemalarms.xml
index 401f36530..1f7fb0c72 100644
--- a/shared/uavobjectdefinition/systemalarms.xml
+++ b/shared/uavobjectdefinition/systemalarms.xml
@@ -26,6 +26,31 @@
 			<elementname>Power</elementname>
 		</elementnames>
 	</field>
+        <field name="LastChange" units="ms" type="uint32">
+		<elementnames>
+			<elementname>SystemConfiguration</elementname>
+			<elementname>BootFault</elementname>
+			<elementname>OutOfMemory</elementname>
+			<elementname>StackOverflow</elementname>
+			<elementname>CPUOverload</elementname>
+			<elementname>EventSystem</elementname>
+			<elementname>Telemetry</elementname>
+			<elementname>Receiver</elementname>
+			<elementname>ManualControl</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>Airspeed</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>Guidance</elementname>
+			<elementname>PathPlan</elementname>
+			<elementname>Battery</elementname>
+			<elementname>FlightTime</elementname>
+			<elementname>I2C</elementname>
+			<elementname>GPS</elementname>
+			<elementname>Power</elementname>
+		</elementnames>
+	</field>
 	<field name="ExtendedAlarmStatus" units="" type="enum" defaultvalue="None">
 		<elementnames>
 			<elementname>SystemConfiguration</elementname>
@@ -45,7 +70,7 @@
 	</field>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="manual" period="0"/>
-        <telemetryflight acked="true" updatemode="throttled" period="100"/>
+        <telemetryflight acked="true" updatemode="onchange" period="0"/>
 	<logging updatemode="manual" period="0"/>
     </object>
 </xml>