diff --git a/src/modules/mavlink/streams/BATTERY_STATUS.hpp b/src/modules/mavlink/streams/BATTERY_STATUS.hpp
index b7f59183d7..709eefb12d 100644
--- a/src/modules/mavlink/streams/BATTERY_STATUS.hpp
+++ b/src/modules/mavlink/streams/BATTERY_STATUS.hpp
@@ -75,7 +75,7 @@ private:
 				bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1;
 				bat_msg.energy_consumed = -1;
 				bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1;
-				bat_msg.battery_remaining = (battery_status.connected) ? ceilf(battery_status.remaining * 100.f) : -1;
+				bat_msg.battery_remaining = (battery_status.connected) ? roundf(battery_status.remaining * 100.f) : -1;
 				// MAVLink extension: 0 is unsupported, in uORB it's NAN
 				bat_msg.time_remaining = (battery_status.connected && (PX4_ISFINITE(battery_status.time_remaining_s))) ?
 							 math::max((int)battery_status.time_remaining_s, 1) : 0;