diff --git a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
index f328f2a8c5..c7dfeeba2a 100644
--- a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
@@ -59,29 +59,15 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
 				    vehicle_status_flags_s &status_flags, const bool checkGNSS, bool reportFailures, const bool prearm,
 				    const hrt_abstime &time_since_boot)
 {
-	const bool hil_enabled = (status.hil_state == vehicle_status_s::HIL_STATE_ON);
-
 	reportFailures = (reportFailures && status_flags.condition_system_hotplug_timeout
 			  && !status_flags.condition_calibration_enabled);
 
-	const bool checkSensors = !hil_enabled;
-	const bool checkDynamic = !hil_enabled;
-
-	bool checkAirspeed = false;
-
-	/* Perform airspeed check only if circuit breaker is not
-	 * engaged and it's not a rotary wing */
-	if (!status_flags.circuit_breaker_engaged_airspd_check &&
-	    (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING || status.is_vtol)) {
-		checkAirspeed = true;
-	}
-
 	bool failed = false;
 
 	failed = failed || !airframeCheck(mavlink_log_pub, status);
 
 	/* ---- MAG ---- */
-	if (checkSensors) {
+	{
 		int32_t sys_has_mag = 1;
 		param_get(param_find("SYS_HAS_MAG"), &sys_has_mag);
 
@@ -111,7 +97,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
 	}
 
 	/* ---- ACCEL ---- */
-	if (checkSensors) {
+	{
 		/* check all sensors individually, but fail only for mandatory ones */
 		for (unsigned i = 0; i < max_optional_accel_count; i++) {
 			const bool required = (i < max_mandatory_accel_count);
@@ -119,7 +105,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
 
 			int32_t device_id = -1;
 
-			if (!accelerometerCheck(mavlink_log_pub, status, i, !required, checkDynamic, device_id, report_fail)) {
+			if (!accelerometerCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
 				if (required) {
 					failed = true;
 				}
@@ -130,7 +116,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
 	}
 
 	/* ---- GYRO ---- */
-	if (checkSensors) {
+	{
 		/* check all sensors individually, but fail only for mandatory ones */
 		for (unsigned i = 0; i < max_optional_gyro_count; i++) {
 			const bool required = (i < max_mandatory_gyro_count);
@@ -147,7 +133,7 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
 	}
 
 	/* ---- BARO ---- */
-	if (checkSensors) {
+	{
 		int32_t sys_has_baro = 1;
 		param_get(param_find("SYS_HAS_BARO"), &sys_has_baro);
 
@@ -170,14 +156,17 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
 
 	/* ---- IMU CONSISTENCY ---- */
 	// To be performed after the individual sensor checks have completed
-	if (checkSensors) {
+	{
 		if (!imuConsistencyCheck(mavlink_log_pub, status, reportFailures)) {
 			failed = true;
 		}
 	}
 
 	/* ---- AIRSPEED ---- */
-	if (checkAirspeed) {
+	/* Perform airspeed check only if circuit breaker is not engaged and it's not a rotary wing */
+	if (!status_flags.circuit_breaker_engaged_airspd_check &&
+	    (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING || status.is_vtol)) {
+
 		int32_t optional = 0;
 		param_get(param_find("FW_ARSP_MODE"), &optional);
 
diff --git a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
index 110111bf49..ff6418d5c1 100644
--- a/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+++ b/src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
@@ -97,7 +97,7 @@ private:
 				      const bool optional, int32_t &device_id, const bool report_fail);
 	static bool magConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool report_status);
 	static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
-				       const bool optional, const bool dynamic, int32_t &device_id, const bool report_fail);
+				       const bool optional, int32_t &device_id, const bool report_fail);
 	static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
 			      const bool optional, int32_t &device_id, const bool report_fail);
 	static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
index 8bb9fd290a..b9ea1827d0 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp
@@ -46,7 +46,7 @@
 using namespace time_literals;
 
 bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
-					const bool optional, const bool dynamic, int32_t &device_id, const bool report_fail)
+					const bool optional, int32_t &device_id, const bool report_fail)
 {
 	const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK);
 	bool calibration_valid = false;
@@ -74,20 +74,17 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s
 			}
 
 		} else {
+			const float accel_magnitude = sqrtf(accel.get().x * accel.get().x
+							    + accel.get().y * accel.get().y
+							    + accel.get().z * accel.get().z);
 
-			if (dynamic) {
-				const float accel_magnitude = sqrtf(accel.get().x * accel.get().x
-								    + accel.get().y * accel.get().y
-								    + accel.get().z * accel.get().z);
-
-				if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
-					if (report_fail) {
-						mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Range, hold still on arming");
-					}
-
-					/* this is frickin' fatal */
-					valid = false;
+			if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
+				if (report_fail) {
+					mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Range, hold still on arming");
 				}
+
+				// this is fatal
+				valid = false;
 			}
 		}