diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 29bf2860b4..ffe44831b8 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2457,7 +2457,9 @@ int commander_thread_main(int argc, char *argv[])
 			} else if (!status_flags.gps_failure) {
 				status_flags.gps_failure = true;
 				status_changed = true;
-				mavlink_log_critical(&mavlink_log_pub, "GPS fix lost");
+				if (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
+					mavlink_log_critical(&mavlink_log_pub, "GPS fix lost");
+				}
 			}
 
 		}