diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index c334e2b381..3d56545b4e 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -278,17 +278,20 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
 		// Sensors need to be initialized for STANDBY state, except for HIL
 		} else if ((status->hil_state != vehicle_status_s::HIL_STATE_ON) &&
 			(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
-			(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
-			(!status_flags->condition_system_sensors_initialized)) {
-			if ((!status_flags->condition_system_prearm_error_reported &&
-			      status_flags->condition_system_hotplug_timeout) ||
-			     (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
-
-				mavlink_and_console_log_critical(mavlink_log_pub, "Not ready to fly: Sensors not set up correctly");
-				status_flags->condition_system_prearm_error_reported = true;
+			(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR)) {
+
+			if (!status_flags->condition_system_sensors_initialized) {
+
+				if (status_flags->condition_system_hotplug_timeout) {
+					if (!status_flags->condition_system_prearm_error_reported) {
+						mavlink_and_console_log_critical(mavlink_log_pub,
+							"Not ready to fly: Sensors not set up correctly");
+						status_flags->condition_system_prearm_error_reported = true;
+					}
+				}
+				feedback_provided = true;
+				valid_transition = false;
 			}
-			feedback_provided = true;
-			valid_transition = false;
 		}
 
 		// Finish up the state transition