diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 0e3cf097be..000d04e491 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -301,6 +301,7 @@ private:
 
 	bool			_primary_pwm_device;	///< true if we are the default PWM output
 	bool			_lockdown_override;	///< allow to override the safety lockdown
+	bool			_armed;			///< wether the system is armed
 
 	float			_battery_amp_per_volt;	///< current sensor amps/volt
 	float			_battery_amp_bias;	///< current sensor bias
@@ -537,6 +538,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_servorail_status{},
 	_primary_pwm_device(false),
 	_lockdown_override(false),
+	_armed(false),
 	_battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor
 	_battery_amp_bias(0),
 	_battery_mamphour_total(0),
@@ -1348,6 +1350,8 @@ PX4IO::io_set_arming_state()
 			clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
 		}
 
+		_armed = armed.armed;
+
 		if (armed.lockdown && !_lockdown_override) {
 			set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
 			_lockdown_override = true;
@@ -1683,7 +1687,7 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt)
 	float current_a = ibatt * (3.3f / 4096.0f) * _battery_amp_per_volt;
 	current_a += _battery_amp_bias;
 
-	_battery.updateBatteryStatus(timestamp, voltage_v, current_a, _last_throttle, &battery_status);
+	_battery.updateBatteryStatus(timestamp, voltage_v, current_a, _last_throttle, _armed, &battery_status);
 
 	/* the announced battery status would conflict with the simulated battery status in HIL */
 	if (!(_pub_blocked)) {
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index c4bca1eab8..ddb25ece7f 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1705,7 +1705,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 				actuator_controls_s ctrl;
 				orb_copy(ORB_ID(actuator_controls_0), _actuator_ctrl_0_sub, &ctrl);
 				_battery.updateBatteryStatus(t, bat_voltage_v, bat_current_a, ctrl.control[actuator_controls_s::INDEX_THROTTLE],
-							     &_battery_status);
+							     _armed, &_battery_status);
 
 				/* announce the battery status if needed, just publish else */
 				if (_battery_pub != nullptr) {
diff --git a/src/modules/systemlib/battery.cpp b/src/modules/systemlib/battery.cpp
index ad57b4cd5f..859de86dd4 100644
--- a/src/modules/systemlib/battery.cpp
+++ b/src/modules/systemlib/battery.cpp
@@ -71,7 +71,7 @@ Battery::reset(battery_status_s *battery_status)
 {
 	memset(battery_status, 0, sizeof(*battery_status));
 	battery_status->current_a = -1.0f;
-	battery_status->remaining = 0.0f;
+	battery_status->remaining = 1.0f;
 	battery_status->cell_count = _param_n_cells.get();
 	// TODO: check if it is sane to reset warning to NONE
 	battery_status->warning = battery_status_s::BATTERY_WARNING_NONE;
@@ -79,13 +79,13 @@ Battery::reset(battery_status_s *battery_status)
 
 void
 Battery::updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, float throttle_normalized,
-			     battery_status_s *battery_status)
+			     bool armed, battery_status_s *battery_status)
 {
 	reset(battery_status);
 	battery_status->timestamp = timestamp;
 	filterVoltage(voltage_v);
 	sumDischarged(timestamp, current_a);
-	estimateRemaining(voltage_v, throttle_normalized);
+	estimateRemaining(voltage_v, throttle_normalized, armed);
 	determineWarning();
 
 	if (_voltage_filtered_v > 2.1f) {
@@ -134,10 +134,13 @@ Battery::sumDischarged(hrt_abstime timestamp, float current_a)
 }
 
 void
-Battery::estimateRemaining(float voltage_v, float throttle_normalized)
+Battery::estimateRemaining(float voltage_v, float throttle_normalized, bool armed)
 {
+	// assume 10% voltage drop of the full drop range with motors idle
+	const float thr = (armed) ? ((fabsf(throttle_normalized) + 0.1f) / 1.1f) : 0.0f;
+
 	// remaining charge estimate based on voltage and internal resistance (drop under load)
-	const float bat_v_empty_dynamic = _param_v_empty.get() - (_param_v_load_drop.get() * fabsf(throttle_normalized));
+	const float bat_v_empty_dynamic = _param_v_empty.get() - (_param_v_load_drop.get() * thr);
 
 	// the range from full to empty is the same for batteries under load and without load,
 	// since the voltage drop applies to both the full and empty state
diff --git a/src/modules/systemlib/battery.h b/src/modules/systemlib/battery.h
index 421252bb46..2b10c2df03 100644
--- a/src/modules/systemlib/battery.h
+++ b/src/modules/systemlib/battery.h
@@ -88,12 +88,12 @@ public:
 	 * @param throttle_normalized: throttle from 0 to 1
 	 */
 	void updateBatteryStatus(hrt_abstime timestamp, float voltage_v, float current_a, float throttle_normalized,
-				 battery_status_s *status);
+				 bool armed, battery_status_s *status);
 
 private:
 	void filterVoltage(float voltage_v);
 	void sumDischarged(hrt_abstime timestamp, float current_a);
-	void estimateRemaining(float voltage_v, float throttle_normalized);
+	void estimateRemaining(float voltage_v, float throttle_normalized, bool armed);
 	void determineWarning();
 
 	control::BlockParamFloat _param_v_empty;