diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index dd19373d18..255a8e2ab8 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -3890,7 +3890,14 @@ void Commander::battery_status_check()
 	// execute battery failsafe if the state has gotten worse while we are armed
 	if (battery_warning_level_increased_while_armed) {
 		warn_user_about_battery(&_mavlink_log_pub, _battery_warning);
-		act_on_battery_failsafe(_internal_state, _battery_warning, (low_battery_action_t)_param_com_low_bat_act.get());
+		uint8_t failsafe_action = get_battery_failsafe_action(_internal_state, _battery_warning,
+					  (low_battery_action_t)_param_com_low_bat_act.get());
+
+		if (failsafe_action != commander_state_s::MAIN_STATE_MAX) {
+			_internal_state.main_state = failsafe_action;
+			_internal_state.main_state_changes++;
+			_internal_state.timestamp = hrt_absolute_time();
+		}
 	}
 
 	// Handle shutdown request from emergency battery action
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 81cd00bf09..c8847acda9 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -1138,10 +1138,11 @@ void warn_user_about_battery(orb_advert_t *mavlink_log_pub, const uint8_t batter
 	}
 }
 
-void act_on_battery_failsafe(commander_state_s &internal_state, const uint8_t battery_warning,
-			     const low_battery_action_t param_com_low_bat_act)
+uint8_t get_battery_failsafe_action(const commander_state_s &internal_state, const uint8_t battery_warning,
+				    const low_battery_action_t param_com_low_bat_act)
 {
-	// Failsafe action
+	uint8_t ret = commander_state_s::MAIN_STATE_MAX;
+
 	const bool already_landing = internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_LAND
 				     || internal_state.main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND;
 	const bool already_landing_or_rtl = already_landing
@@ -1154,18 +1155,14 @@ void act_on_battery_failsafe(commander_state_s &internal_state, const uint8_t ba
 		case LOW_BAT_ACTION::RETURN:
 		case LOW_BAT_ACTION::RETURN_OR_LAND:
 			if (!already_landing_or_rtl) {
-				internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_RTL;
-				internal_state.main_state_changes++;
-				internal_state.timestamp = hrt_absolute_time();
+				ret = commander_state_s::MAIN_STATE_AUTO_RTL;
 			}
 
 			break;
 
 		case LOW_BAT_ACTION::LAND:
 			if (!already_landing) {
-				internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
-				internal_state.main_state_changes++;
-				internal_state.timestamp = hrt_absolute_time();
+				ret = commander_state_s::MAIN_STATE_AUTO_LAND;
 			}
 
 			break;
@@ -1179,9 +1176,7 @@ void act_on_battery_failsafe(commander_state_s &internal_state, const uint8_t ba
 		switch (param_com_low_bat_act) {
 		case LOW_BAT_ACTION::RETURN:
 			if (!already_landing_or_rtl) {
-				internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_RTL;
-				internal_state.main_state_changes++;
-				internal_state.timestamp = hrt_absolute_time();
+				ret = commander_state_s::MAIN_STATE_AUTO_RTL;
 			}
 
 			break;
@@ -1189,9 +1184,7 @@ void act_on_battery_failsafe(commander_state_s &internal_state, const uint8_t ba
 		case LOW_BAT_ACTION::RETURN_OR_LAND:
 		case LOW_BAT_ACTION::LAND:
 			if (!already_landing) {
-				internal_state.main_state = commander_state_s::MAIN_STATE_AUTO_LAND;
-				internal_state.main_state_changes++;
-				internal_state.timestamp = hrt_absolute_time();
+				ret = commander_state_s::MAIN_STATE_AUTO_LAND;
 			}
 
 			break;
@@ -1201,6 +1194,8 @@ void act_on_battery_failsafe(commander_state_s &internal_state, const uint8_t ba
 
 		break;
 	}
+
+	return ret;
 }
 
 void imbalanced_prop_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status,
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index f899d15202..cf1ed4b434 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -143,8 +143,8 @@ typedef enum LOW_BAT_ACTION {
 } low_battery_action_t;
 
 void warn_user_about_battery(orb_advert_t *mavlink_log_pub, const uint8_t battery_warning);
-void act_on_battery_failsafe(commander_state_s &commander_state, const uint8_t battery_warning,
-			     const low_battery_action_t param_com_low_bat_act);
+uint8_t get_battery_failsafe_action(const commander_state_s &internal_state, const uint8_t battery_warning,
+				    const low_battery_action_t param_com_low_bat_act);
 
 // COM_IMB_PROP_ACT parameter values
 enum class imbalanced_propeller_action_t {