A communication apparatus (10) includes: a measurement data transmitting unit (120) which transmits a first measurement data to a relay apparatus (20), and a second measurement data to a partner apparatus (30); a response data receiving unit (130) which receives first and second response data; a network measurement unit (140) which calculates a first communication time using the first response data, and a second communication time using the second response data; a connection mode judging unit (150) which judges, based on a partner section communication time that is difference between the second and the first communication times, whether or not the relay apparatus (20) and the partner apparatus (30) are wirelessly connected; and a connection mode switching unit (160) which switches, when judged that the relay apparatus (20) and the partner apparatus (30) are wirelessly connected, the communication with the partner apparatus (30) from indirect to direct wireless communication.