diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index dede5976da..c8f77a6116 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1302,6 +1302,7 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
 
 	/* voltage is scaled to mV */
 	battery_status.voltage_v = vbatt / 1000.0f;
+	battery_status.voltage_filtered_v = vbatt / 1000.0f;
 
 	/*
 	  ibatt contains the raw ADC count, as 12 bit ADC
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index ff6c5882ec..9903a90a0e 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1548,8 +1548,8 @@ Sensors::task_main()
 	raw.adc_voltage_v[3] = 0.0f;
 
 	memset(&_battery_status, 0, sizeof(_battery_status));
-	_battery_status.voltage_v = 0.0f;
-	_battery_status.voltage_filtered_v = 0.0f;
+	_battery_status.voltage_v = -1.0f;
+	_battery_status.voltage_filtered_v = -1.0f;
 	_battery_status.current_a = -1.0f;
 	_battery_status.discharged_mah = -1.0f;