diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
index 228d5671c9..bc2cee9b43 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
@@ -77,7 +77,8 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s
 	if (exists) {
 		uORB::SubscriptionData<sensor_accel_s> accel{ORB_ID(sensor_accel), instance};
 
-		is_valid = (accel.get().device_id != 0) && (accel.get().timestamp != 0);
+		is_valid = (accel.get().device_id != 0) && (accel.get().timestamp != 0)
+			   && (hrt_elapsed_time(&accel.get().timestamp) < 1_s);
 
 		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
 			is_calibration_valid = true;
diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/baroCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/baroCheck.cpp
index 004fffdf93..c30ddb9cd5 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/baroCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/baroCheck.cpp
@@ -73,7 +73,7 @@ bool PreFlightCheck::baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 	if (exists) {
 		uORB::SubscriptionData<sensor_baro_s> baro{ORB_ID(sensor_baro), instance};
 
-		valid = (baro.get().device_id != 0) && (baro.get().timestamp != 0);
+		valid = (baro.get().device_id != 0) && (baro.get().timestamp != 0) && (hrt_elapsed_time(&baro.get().timestamp) < 1_s);
 	}
 
 	if (instance == 0) {
diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp
index 590445c0fa..0f330969fa 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp
@@ -75,7 +75,8 @@ bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 	if (exists) {
 		uORB::SubscriptionData<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), instance};
 
-		is_valid = (gyro.get().device_id != 0) && (gyro.get().timestamp != 0);
+		is_valid = (gyro.get().device_id != 0) && (gyro.get().timestamp != 0)
+			   && (hrt_elapsed_time(&gyro.get().timestamp) < 1_s);
 
 		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
 			is_calibration_valid = true;
diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp
index 338120b306..fe0f803a97 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp
@@ -76,19 +76,20 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st
 	if (exists) {
 		uORB::SubscriptionData<sensor_mag_s> magnetometer{ORB_ID(sensor_mag), instance};
 
-		is_valid = (magnetometer.get().device_id != 0) && (magnetometer.get().timestamp != 0);
+		const sensor_mag_s &mag_data = magnetometer.get();
+		is_valid = (mag_data.device_id != 0) && (mag_data.timestamp != 0) && (hrt_elapsed_time(&mag_data.timestamp) < 1_s);
 
 		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
 			is_calibration_valid = true;
 
 		} else {
-			is_calibration_valid = (calibration::FindCurrentCalibrationIndex("MAG", magnetometer.get().device_id) >= 0);
+			is_calibration_valid = (calibration::FindCurrentCalibrationIndex("MAG", mag_data.device_id) >= 0);
 		}
 
 		for (uint8_t i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
 			uORB::SubscriptionData<estimator_status_s> estimator_status_sub{ORB_ID(estimator_status), i};
 
-			if (estimator_status_sub.get().mag_device_id == static_cast<uint32_t>(magnetometer.get().device_id)) {
+			if (estimator_status_sub.get().mag_device_id == static_cast<uint32_t>(mag_data.device_id)) {
 				if (estimator_status_sub.get().control_mode_flags & (1 << estimator_status_s::CS_MAG_FAULT)) {
 					is_mag_fault = true;
 					break;