diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp
index 8f8690a2f2..e8c671e45a 100644
--- a/src/lib/battery/battery.cpp
+++ b/src/lib/battery/battery.cpp
@@ -118,6 +118,18 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 		_current_filter_a.reset(_current_a);
 	}
 
+	// Require minimum voltage toherwise override connected status
+	if (_voltage_filter_v.getState() < 2.1f) {
+		_connected = false;
+	}
+
+	if (!_connected || (_last_unconnected_timestamp == 0)) {
+		_last_unconnected_timestamp = timestamp;
+	}
+
+	// wait with initializing filters to avoid relying on a voltage sample from the rising edge
+	_battery_initialized = _connected && (timestamp > _last_unconnected_timestamp + 2_s);
+
 	sumDischarged(timestamp, _current_a);
 	_state_of_charge_volt_based =
 		calculateStateOfChargeVoltageBased(_voltage_filter_v.getState(), _current_filter_a.getState());
@@ -131,13 +143,6 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp)
 	if (_connected && _battery_initialized) {
 		_warning = determineWarning(_state_of_charge);
 	}
-
-	if (_voltage_filter_v.getState() > 2.1f) {
-		_battery_initialized = true;
-
-	} else {
-		_connected = false;
-	}
 }
 
 battery_status_s Battery::getBatteryStatus()
diff --git a/src/lib/battery/battery.h b/src/lib/battery/battery.h
index 9616a4e0cf..f7b5b20fd5 100644
--- a/src/lib/battery/battery.h
+++ b/src/lib/battery/battery.h
@@ -175,4 +175,5 @@ private:
 	uint8_t _warning{battery_status_s::BATTERY_WARNING_NONE};
 	hrt_abstime _last_timestamp{0};
 	bool _armed{false};
+	hrt_abstime _last_unconnected_timestamp{0};
 };