diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index c689e7a0b3..5983c00170 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2323,6 +2323,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		hil_battery_status.discharged_mah = -1.0f;
 		hil_battery_status.connected = true;
 		hil_battery_status.remaining = 0.70;
+		hil_battery_status.time_remaining_s = NAN;
 
 		_battery_pub.publish(hil_battery_status);
 	}
@@ -2752,6 +2753,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_battery_status.current_a = 10.0f;
 		hil_battery_status.discharged_mah = -1.0f;
 		hil_battery_status.timestamp = hrt_absolute_time();
+		hil_battery_status.time_remaining_s = NAN;
 		_battery_pub.publish(hil_battery_status);
 	}
 }