diff --git a/src/modules/systemlib/battery.cpp b/src/modules/systemlib/battery.cpp
index 778708d017..7a8a8e940d 100644
--- a/src/modules/systemlib/battery.cpp
+++ b/src/modules/systemlib/battery.cpp
@@ -89,10 +89,14 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
 	filterCurrent(current_a);
 	sumDischarged(timestamp, current_a);
 	estimateRemaining(_voltage_filtered_v, _current_filtered_a, throttle_normalized, armed);
-	determineWarning(connected);
 	computeScale();
 
+	if (_battery_initialized) {
+		determineWarning(connected);
+	}
+
 	if (_voltage_filtered_v > 2.1f) {
+		_battery_initialized = true;
 		battery_status->voltage_v = voltage_v;
 		battery_status->voltage_filtered_v = _voltage_filtered_v;
 		battery_status->scale = _scale;
@@ -110,7 +114,7 @@ Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float curre
 void
 Battery::filterVoltage(float voltage_v)
 {
-	if (_voltage_filtered_v < 0.f) {
+	if (!_battery_initialized) {
 		_voltage_filtered_v = voltage_v;
 	}
 
@@ -125,7 +129,7 @@ Battery::filterVoltage(float voltage_v)
 void
 Battery::filterCurrent(float current_a)
 {
-	if (_current_filtered_a < 0.f) {
+	if (!_battery_initialized) {
 		_current_filtered_a = current_a;
 	}
 
@@ -183,7 +187,7 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
 	// choose which quantity we're using for final reporting
 	if (_capacity.get() > 0.f) {
 		// if battery capacity is known, fuse voltage measurement with used capacity
-		if (_remaining > 1.f) {
+		if (!_battery_initialized) {
 			// initialization of the estimation state
 			_remaining = _remaining_voltage;
 
diff --git a/src/modules/systemlib/battery.h b/src/modules/systemlib/battery.h
index 8fbb8b9735..bb0a754e97 100644
--- a/src/modules/systemlib/battery.h
+++ b/src/modules/systemlib/battery.h
@@ -113,12 +113,13 @@ private:
 	control::BlockParamFloat _crit_thr;
 	control::BlockParamFloat _emergency_thr;
 
+	bool _battery_initialized = false;
 	float _voltage_filtered_v = -1.f;
 	float _current_filtered_a = -1.f;
 	float _discharged_mah = 0.f;
 	float _discharged_mah_loop = 0.f;
-	float _remaining_voltage = 1.f;		///< normalized battery charge level remaining based on voltage
-	float _remaining = 2.f;			///< normalized battery charge level, selected based on config param
+	float _remaining_voltage = -1.f;		///< normalized battery charge level remaining based on voltage
+	float _remaining = -1.f;			///< normalized battery charge level, selected based on config param
 	float _scale = 1.f;
 	uint8_t _warning;
 	hrt_abstime _last_timestamp;