diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 6055e0935f..33c8ebbb0f 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -1145,25 +1145,23 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 		// FALLTHROUGH
 		case LOW_BAT_ACTION::RETURN_OR_LAND:
 
-			// let us send the critical message even if already in RTL
-			if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags,
-					internal_state)) {
-				mavlink_log_critical(mavlink_log_pub, "%s, Executing RTL", battery_critical);
+			if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
+				internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_RTL;
+				internal_state->timestamp = hrt_absolute_time();
+				mavlink_log_critical(mavlink_log_pub, "%s, executing RTL", battery_critical);
 
 			} else {
-				mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute RTL", battery_critical);
+				internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
+				internal_state->timestamp = hrt_absolute_time();
+				mavlink_log_emergency(mavlink_log_pub, "%s, can't execute RTL, landing instead", battery_critical);
 			}
 
 			break;
 
 		case LOW_BAT_ACTION::LAND:
-			if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags,
-					internal_state)) {
-				mavlink_log_critical(mavlink_log_pub, "%s, Landing immediately", battery_critical);
-
-			} else {
-				mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute landing", battery_critical);
-			}
+			internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
+			internal_state->timestamp = hrt_absolute_time();
+			mavlink_log_emergency(mavlink_log_pub, "%s, landing", battery_critical);
 
 			break;
 		}
@@ -1180,12 +1178,15 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 			break;
 
 		case LOW_BAT_ACTION::RETURN:
-			if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags,
-					internal_state)) {
-				mavlink_log_emergency(mavlink_log_pub, "%s, Executing RTL", battery_dangerous);
+			if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
+				internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_RTL;
+				internal_state->timestamp = hrt_absolute_time();
+				mavlink_log_critical(mavlink_log_pub, "%s, executing RTL", battery_critical);
 
 			} else {
-				mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute RTL", battery_dangerous);
+				internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
+				internal_state->timestamp = hrt_absolute_time();
+				mavlink_log_emergency(mavlink_log_pub, "%s, can't execute RTL, landing instead", battery_critical);
 			}
 
 			break;
@@ -1194,13 +1195,9 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 
 		// FALLTHROUGH
 		case LOW_BAT_ACTION::LAND:
-			if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags,
-					internal_state)) {
-				mavlink_log_emergency(mavlink_log_pub, "%s, Landing immediately", battery_dangerous);
-
-			} else {
-				mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute landing", battery_dangerous);
-			}
+			internal_state->main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
+			internal_state->timestamp = hrt_absolute_time();
+			mavlink_log_emergency(mavlink_log_pub, "%s, landing", battery_critical);
 
 			break;
 		}