diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp
index 926bdfe44d..534d62807f 100644
--- a/src/modules/commander/failsafe/failsafe.cpp
+++ b/src/modules/commander/failsafe/failsafe.cpp
@@ -501,22 +501,27 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 	}
 
 	// Battery low failsafe
+	// If battery was low and arming was allowed through COM_ARM_BAT_MIN, don't failsafe immediately for the current low battery warning state
+	const bool warning_worse_than_at_arming = (status_flags.battery_warning > _battery_warning_at_arming);
+	const int32_t low_battery_action = warning_worse_than_at_arming ?
+					   _param_com_low_bat_act.get() : (int32_t)LowBatteryAction::Warning;
+
 	switch (status_flags.battery_warning) {
 	case battery_status_s::BATTERY_WARNING_LOW:
 		_last_state_battery_warning_low = checkFailsafe(_caller_id_battery_warning_low, _last_state_battery_warning_low,
-						  true, fromBatteryWarningActParam(_param_com_low_bat_act.get(), battery_status_s::BATTERY_WARNING_LOW));
+						  true, fromBatteryWarningActParam(low_battery_action, battery_status_s::BATTERY_WARNING_LOW));
 		break;
 
 	case battery_status_s::BATTERY_WARNING_CRITICAL:
 		_last_state_battery_warning_critical = checkFailsafe(_caller_id_battery_warning_critical,
 						       _last_state_battery_warning_critical,
-						       true, fromBatteryWarningActParam(_param_com_low_bat_act.get(), battery_status_s::BATTERY_WARNING_CRITICAL));
+						       true, fromBatteryWarningActParam(low_battery_action, battery_status_s::BATTERY_WARNING_CRITICAL));
 		break;
 
 	case battery_status_s::BATTERY_WARNING_EMERGENCY:
 		_last_state_battery_warning_emergency = checkFailsafe(_caller_id_battery_warning_emergency,
 							_last_state_battery_warning_emergency,
-							true, fromBatteryWarningActParam(_param_com_low_bat_act.get(), battery_status_s::BATTERY_WARNING_EMERGENCY));
+							true, fromBatteryWarningActParam(low_battery_action, battery_status_s::BATTERY_WARNING_EMERGENCY));
 		break;
 
 	default:
@@ -563,6 +568,7 @@ void Failsafe::updateArmingState(const hrt_abstime &time_us, bool armed, const f
 	if (!_was_armed && armed) {
 		_armed_time = time_us;
 		_manual_control_lost_at_arming = status_flags.manual_control_signal_lost;
+		_battery_warning_at_arming = status_flags.battery_warning;
 
 	} else if (!armed) {
 		_manual_control_lost_at_arming = status_flags.manual_control_signal_lost; // ensure action isn't added while disarmed
diff --git a/src/modules/commander/failsafe/failsafe.h b/src/modules/commander/failsafe/failsafe.h
index 742b84ce36..2ebb962cb1 100644
--- a/src/modules/commander/failsafe/failsafe.h
+++ b/src/modules/commander/failsafe/failsafe.h
@@ -173,6 +173,7 @@ private:
 	hrt_abstime _armed_time{0};
 	bool _was_armed{false};
 	bool _manual_control_lost_at_arming{false}; ///< true if manual control was lost at arming time
+	uint8_t _battery_warning_at_arming{0}; ///< low battery state at arming time
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FailsafeBase,
 					(ParamInt<px4::params::NAV_DLL_ACT>) 	_param_nav_dll_act,