diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 3d0e148e03..16228d72ef 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1504,6 +1504,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	bool low_battery_voltage_actions_done = false;
 	bool critical_battery_voltage_actions_done = false;
+	bool emergency_battery_voltage_actions_done = false;
 
 	bool status_changed = true;
 	bool param_init_forced = true;
@@ -2254,13 +2255,11 @@ int commander_thread_main(int argc, char *argv[])
 
 					if (!armed.armed) {
 						mavlink_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
-						usleep(200000);
-						px4_board_pwr(false);
 
 					} else {
-						if (low_bat_action == 1) {
+						if (low_bat_action == 1 || low_bat_action == 3) {
 							// let us send the critical message even if already in RTL
-							if (warning_action_on || TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, &status_flags, &internal_state)) {
+							if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, &status_flags, &internal_state)) {
 								warning_action_on = true;
 								mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RETURNING TO LAND");
 
@@ -2269,7 +2268,7 @@ int commander_thread_main(int argc, char *argv[])
 							}
 
 						} else if (low_bat_action == 2) {
-							if (warning_action_on || TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) {
+							if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) {
 								warning_action_on = true;
 								mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING AT CURRENT POSITION");
 
@@ -2278,7 +2277,34 @@ int commander_thread_main(int argc, char *argv[])
 							}
 
 						} else {
-							mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING ADVISED!");
+							mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RETURN TO LAUNCH ADVISED!");
+						}
+					}
+
+					status_changed = true;
+
+				} else if (!status_flags.usb_connected &&
+					   battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY &&
+					   !emergency_battery_voltage_actions_done) {
+					emergency_battery_voltage_actions_done = true;
+
+					if (!armed.armed) {
+						mavlink_log_critical(&mavlink_log_pub, "DANGEROUSLY LOW BATTERY, SHUT SYSTEM DOWN");
+						usleep(200000);
+						px4_board_pwr(false);
+
+					} else {
+						if (low_bat_action == 2 || low_bat_action == 3) {
+							if (TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) {
+								warning_action_on = true;
+								mavlink_log_emergency(&mavlink_log_pub, "DANGEROUS BATTERY LEVEL, LANDING IMMEDIATELY");
+
+							} else {
+								mavlink_log_emergency(&mavlink_log_pub, "DANGEROUS BATTERY LEVEL, LANDING FAILED");
+							}
+
+						} else {
+							mavlink_log_emergency(&mavlink_log_pub, "DANGEROUS BATTERY LEVEL, LANDING ADVISED!");
 						}
 					}
 
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 2de6c6288f..76e001a880 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -315,8 +315,9 @@ PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0);
  *
  * @group Commander
  * @value 0 Warning
- * @value 1 Return to Land
+ * @value 1 Return to land
  * @value 2 Land at current position
+ * @value 3 Return to land at critically low level, land at current position if reaching dangerously low levels
  * @decimal 0
  * @increment 1
  */