diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index ae6bdb8523..ede0c44d8b 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2632,7 +2632,12 @@ Commander::run()
 			// Evaluate current prearm status
 			if (!_armed.armed && !_status_flags.condition_calibration_enabled) {
 				bool preflight_check_res = PreFlightCheck::preflightCheck(nullptr, _status, _status_flags, true, false, true, 30_s);
-				bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, _status_flags, _safety, _arm_requirements, _status, false);
+
+				// skip arm authorization check until actual arming attempt
+				PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;
+				arm_req.arm_authorization = false;
+				bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, _status_flags, _safety, arm_req, _status, false);
+
 				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true, (preflight_check_res
 						 && prearm_check_res), _status);
 			}