diff --git a/solixauto/engine.py b/solixauto/engine.py
index 676ad17..091dff8 100644
--- a/solixauto/engine.py
+++ b/solixauto/engine.py
@@ -118,6 +118,9 @@ class Engine:
         self.last_heartbeat = 0.0
         self.heartbeat_every = 300
         self.incomplete_reported = False
+        self.disconnected_since = None
+        self.stale_action_state = None
+        self.pre_stale_state = None
 
     def evaluate(self, variables, now):
         for state in self.states:
@@ -290,6 +293,34 @@ class Engine:
         self.last_heartbeat = now
         self.report(self.summarize(variables, now))
 
+    async def undo_stale_action(self, session, now):
+        if self.stale_action_state is None:
+            return
+
+        previous = self.pre_stale_state
+        applied = self.stale_action_state
+        self.stale_action_state = None
+        self.pre_stale_state = None
+
+        if previous is None or previous == applied:
+            return
+
+        if self.last_commanded != applied:
+            return
+
+        self.report(
+            f"undoing the precautionary {self._word(applied)}, restoring "
+            f"{self._word(previous)} so the rules decide from here",
+            force=True,
+        )
+        await self.apply(
+            session,
+            previous,
+            "restored after telemetry recovered",
+            now,
+            force=True,
+        )
+
     async def check_floor(self, session, variables, now):
         floor = self.profile.battery_floor
         if floor is None or not floor.enabled:
@@ -422,20 +453,50 @@ class Engine:
             return
 
         if not self.source.connected():
+            if self.disconnected_since is None:
+                self.disconnected_since = now
+                self.report(
+                    "MQTT session disconnected, waiting "
+                    f"{format_duration(self.profile.stale_after)} to see if it "
+                    "recovers before acting",
+                    force=True,
+                )
+
+            waited = now - self.disconnected_since
+            if waited < (self.profile.stale_after or 0):
+                return
+
             if not self.stale_reported:
-                self.report("MQTT session disconnected", force=True)
+                self.report(
+                    f"MQTT session still down after {format_duration(waited)}, "
+                    f"applying on_stale={self.profile.on_stale}",
+                    force=True,
+                )
                 self.stale_reported = True
                 await self.notify(
                     None, None, {"reason": "mqtt disconnected"}, event="stale"
                 )
+
             if self.profile.on_stale == "stop":
                 raise RuntimeError("stopping: MQTT session disconnected")
             if self.profile.on_stale == "safe_state":
+                if self.stale_action_state is None:
+                    self.pre_stale_state = self.last_commanded
+                    self.stale_action_state = self.profile.safe_state
                 await self.apply(
                     session, self.profile.safe_state, "mqtt disconnected safe state", now
                 )
             return
 
+        if self.disconnected_since is not None:
+            self.report(
+                "MQTT session recovered after "
+                f"{format_duration(now - self.disconnected_since)}",
+                force=True,
+            )
+            self.disconnected_since = None
+            await self.undo_stale_action(session, now)
+
         if age is not None and self.profile.stale_after and age > self.profile.stale_after:
             if not self.stale_reported:
                 self.report(
@@ -450,6 +511,9 @@ class Engine:
             if self.profile.on_stale == "stop":
                 raise RuntimeError("stopping: telemetry went stale")
             if self.profile.on_stale == "safe_state":
+                if self.stale_action_state is None:
+                    self.pre_stale_state = self.last_commanded
+                    self.stale_action_state = self.profile.safe_state
                 await self.apply(
                     session, self.profile.safe_state, "stale telemetry safe state", now
                 )
@@ -458,6 +522,7 @@ class Engine:
         if self.stale_reported:
             self.report("telemetry recovered", force=True)
             self.stale_reported = False
+            await self.undo_stale_action(session, now)
 
         variables = derived_values(self.anker_profile, status)