diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index c5304f0a7e..71aacbc475 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -2238,6 +2238,8 @@ int commander_thread_main(int argc, char *argv[])
 
 					if (!armed.armed) {
 						mavlink_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
+						usleep(200000);
+						board_pwr(false);
 
 					} else {
 						if (low_bat_action == 1) {
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 78b2a14b7b..6479b801d6 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -1166,11 +1166,11 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
 		}
 	}
 
-	if (battery->warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
+	if (battery->warning == battery_status_s::BATTERY_WARNING_LOW) {
 		preflight_ok = false;
 
 		if (reportFailures) {
-			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: VERY LOW BATTERY");
+			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: LOW BATTERY");
 		}
 	}