diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 9aba61e14c..bd31be7acf 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -211,7 +211,7 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 			valid_transition = true;
 		}
 
-		/* Sensors need to be initialized for STANDBY state */
+		// Sensors need to be initialized for STANDBY state
 		if (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY && !status->condition_system_sensors_initialized) {
 			mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors not operational.");
 			feedback_provided = true;
@@ -219,15 +219,23 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 			status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
 		}
 
-		/* Check if we are trying to arm, checks look good but we are in STANDBY_ERROR */
-		if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR &&
-			new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
-			if (status->condition_system_sensors_initialized) {
-				mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming");
-			} else {
-				mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm");
+		// Check if we are trying to arm, checks look good but we are in STANDBY_ERROR
+		if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
+
+			if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+
+				if (status->condition_system_sensors_initialized) {
+					mavlink_and_console_log_critical(mavlink_fd, "Preflight check now OK, power cycle before arming");
+				} else {
+					mavlink_and_console_log_critical(mavlink_fd, "Preflight check failed, refusing to arm");
+				}
+				feedback_provided = true;
+
+			} else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
+					status->condition_system_sensors_initialized) {
+				mavlink_and_console_log_critical(mavlink_fd, "Preflight check resolved, power cycle to complete");
+				feedback_provided = true;
 			}
-			feedback_provided = true;
 		}
 
 		// Finish up the state transition