diff --git a/src/modules/commander/HealthAndArmingChecks/Common.cpp b/src/modules/commander/HealthAndArmingChecks/Common.cpp
index fb5639087e..16e074ba18 100644
--- a/src/modules/commander/HealthAndArmingChecks/Common.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/Common.cpp
@@ -73,6 +73,14 @@ void Report::armingCheckFailure(NavModes required_modes, HealthComponentIndex co
 	addEvent(event_id, log_levels, message, (uint32_t)reportedModes(required_modes), component.index);
 }
 
+void Report::armingCheckFailure(NavModesMessageFail required_modes, HealthComponentIndex component,
+				uint32_t event_id, const events::LogLevels &log_levels, const char *message)
+{
+	armingCheckFailure(required_modes.fail_modes, component, log_levels.external);
+	addEvent(event_id, log_levels, message,
+		 (uint32_t)reportedModes(required_modes.message_modes | required_modes.fail_modes), component.index);
+}
+
 Report::EventBufferHeader *Report::addEventToBuffer(uint32_t event_id, const events::LogLevels &log_levels,
 		uint32_t modes, unsigned args_size)
 {
diff --git a/src/modules/commander/HealthAndArmingChecks/Common.hpp b/src/modules/commander/HealthAndArmingChecks/Common.hpp
index 826aa7629c..e069788ddf 100644
--- a/src/modules/commander/HealthAndArmingChecks/Common.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/Common.hpp
@@ -74,6 +74,12 @@ static_assert(sizeof(navigation_mode_group_t) == sizeof(NavModes), "type mismatc
 static_assert(vehicle_status_s::NAVIGATION_STATE_MAX <= CHAR_BIT *sizeof(navigation_mode_group_t),
 	      "type too small, use next larger type");
 
+// Type to pass two mode groups in one struct to have the same number of function arguments to facilitate events parsing
+struct NavModesMessageFail {
+	NavModes message_modes; ///< modes in which there's user messageing but arming is allowed
+	NavModes fail_modes; ///< modes in which checks fail which must be a subset of message_modes
+};
+
 static inline NavModes operator|(NavModes a, NavModes b)
 {
 	return static_cast<NavModes>(static_cast<uint32_t>(a) | static_cast<uint32_t>(b));
@@ -251,6 +257,14 @@ public:
 	void armingCheckFailure(NavModes required_modes, HealthComponentIndex component, uint32_t event_id,
 				const events::LogLevels &log_levels, const char *message);
 
+	/**
+	 * Overloaded variant of armingCheckFailure() which allows to separately specify modes in which a message should be emitted and a subset in which arming is blocked
+	 * @param required_modes .message_modes modes in which to put out the event and hence user message.
+	 *                       .failing_modes modes in which to to fail arming. Has to be a subset of message_modes to never disallow arming without a reason.
+	 */
+	void armingCheckFailure(NavModesMessageFail required_modes, HealthComponentIndex component,
+				uint32_t event_id, const events::LogLevels &log_levels, const char *message);
+
 	void clearArmingBits(NavModes modes);
 
 	/**