diff --git a/src/modules/systemlib/battery.cpp b/src/modules/systemlib/battery.cpp
index 67d4db583e..36c4ef6f0e 100644
--- a/src/modules/systemlib/battery.cpp
+++ b/src/modules/systemlib/battery.cpp
@@ -58,7 +58,6 @@ Battery::Battery() :
 	_discharged_mah(0.f),
 	_discharged_mah_loop(0.f),
 	_remaining_voltage(1.f),
-	_remaining_capacity(1.f),
 	_remaining(2.f),
 	_scale(1.f),
 	_warning(battery_status_s::BATTERY_WARNING_NONE),
@@ -187,16 +186,16 @@ Battery::estimateRemaining(float voltage_v, float current_a, float throttle_norm
 
 	// choose which quantity we're using for final reporting
 	if (_capacity.get() > 0.f) {
-		// remaining battery capacity based on used current integrated time
-		_remaining_capacity = math::max(1.f - _discharged_mah / _capacity.get(), 0.f);
-
 		// if battery capacity is known, fuse voltage measurement with used capacity
 		if (_remaining > 1.f) {
-			// initialization of the state
+			// initialization of the estimation state
 			_remaining = _remaining_voltage;
 
 		} else {
-			_remaining = 0.9995f * _remaining + 0.0005f * _remaining_voltage;
+			// The lower the voltage the more adjust the estimate with it to avoid deep discharge
+			const float weight_v = 3e-4f * (1 - _remaining_voltage);
+			_remaining = (1 - weight_v) * _remaining + weight_v * _remaining_voltage;
+			// directly apply current capacity slope calculated using current
 			_remaining -= _discharged_mah_loop / _capacity.get();
 			_remaining = math::max(_remaining, 0.f);
 		}
diff --git a/src/modules/systemlib/battery.h b/src/modules/systemlib/battery.h
index 1e4cf04a9e..3bf25593ae 100644
--- a/src/modules/systemlib/battery.h
+++ b/src/modules/systemlib/battery.h
@@ -118,7 +118,6 @@ private:
 	float _discharged_mah;
 	float _discharged_mah_loop;
 	float _remaining_voltage;		///< normalized battery charge level remaining based on voltage
-	float _remaining_capacity;		///< normalized battery charge level remaining based on capacity
 	float _remaining;			///< normalized battery charge level, selected based on config param
 	float _scale;
 	uint8_t _warning;
diff --git a/src/modules/systemlib/battery_params.c b/src/modules/systemlib/battery_params.c
index b0c1924e65..b8697bdb47 100644
--- a/src/modules/systemlib/battery_params.c
+++ b/src/modules/systemlib/battery_params.c
@@ -56,7 +56,7 @@
  * @increment 0.01
  * @reboot_required true
  */
-PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
+PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.5f);
 
 /**
  * Full cell voltage (5C load)