diff --git a/src/modules/commander/Arming/PreFlightCheck/checks/airspeedCheck.cpp b/src/modules/commander/Arming/PreFlightCheck/checks/airspeedCheck.cpp
index bd646a9f43..847a16b919 100644
--- a/src/modules/commander/Arming/PreFlightCheck/checks/airspeedCheck.cpp
+++ b/src/modules/commander/Arming/PreFlightCheck/checks/airspeedCheck.cpp
@@ -79,12 +79,12 @@ bool PreFlightCheck::airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status
 		goto out;
 	}
 
-	/**
+	/*
 	 * Check if airspeed is higher than 4m/s (accepted max) while the vehicle is landed / not flying
 	 * Negative and positive offsets are considered. Do not check anymore while arming because pitot cover
 	 * might have been removed.
 	 */
-	if (fabsf(airspeed.indicated_airspeed_m_s) > 4.0f && !prearm) {
+	if (fabsf(airspeed.indicated_airspeed_m_s) > 4.0f && prearm) {
 		if (report_fail) {
 			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: check Airspeed Cal or Pitot");
 		}
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 27ee54e525..9cf1cdb17d 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -286,7 +286,7 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "check")) {
-		bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, true, false, 30_s);
+		bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, status, status_flags, true, true, true, 30_s);
 		PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
 
 		bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, status_flags, safety_s{},
@@ -1280,7 +1280,7 @@ Commander::run()
 	arm_auth_init(&mavlink_log_pub, &status.system_id);
 
 	// run preflight immediately to find all relevant parameters, but don't report
-	PreFlightCheck::preflightCheck(&mavlink_log_pub, status, status_flags, _arm_requirements.global_position, false, false,
+	PreFlightCheck::preflightCheck(&mavlink_log_pub, status, status_flags, _arm_requirements.global_position, false, true,
 				       hrt_elapsed_time(&_boot_timestamp));
 
 	while (!should_exit()) {
@@ -3355,7 +3355,7 @@ void *commander_low_prio_loop(void *arg)
 						tune_positive(true);
 
 						// time since boot not relevant here
-						if (PreFlightCheck::preflightCheck(&mavlink_log_pub, status, status_flags, false, false, false, 30_s)) {
+						if (PreFlightCheck::preflightCheck(&mavlink_log_pub, status, status_flags, false, false, true, 30_s)) {
 
 							status_flags.condition_system_sensors_initialized = true;
 						}
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 3db82124ad..126530d0c0 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -154,7 +154,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
 			if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) {
 
 				status_flags->condition_system_sensors_initialized = PreFlightCheck::preflightCheck(mavlink_log_pub, *status,
-						*status_flags, arm_requirements.global_position, false, false, time_since_boot);
+						*status_flags, arm_requirements.global_position, false, status->arming_state != vehicle_status_s::ARMING_STATE_ARMED,
+						time_since_boot);
 
 				last_preflight_check = hrt_absolute_time();
 			}