diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg
index 584d439eac..9d72de0751 100644
--- a/msg/vehicle_status_flags.msg
+++ b/msg/vehicle_status_flags.msg
@@ -2,7 +2,6 @@
 
 bool condition_calibration_enabled
 bool condition_system_sensors_initialized
-bool condition_system_prearm_error_reported	# true if errors have already been reported
 bool condition_system_hotplug_timeout		# true if the hotplug sensor search is over
 bool condition_system_returned_to_home
 bool condition_auto_mission_available
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index af2f4a2cb8..44798dc790 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -284,14 +284,6 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
 			   (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR)) {
 
 			if (!status_flags->condition_system_sensors_initialized) {
-
-				if (status_flags->condition_system_hotplug_timeout) {
-					if (!status_flags->condition_system_prearm_error_reported) {
-						mavlink_log_critical(mavlink_log_pub, "Not ready to fly: Sensors not set up correctly");
-						status_flags->condition_system_prearm_error_reported = true;
-					}
-				}
-
 				feedback_provided = true;
 				valid_transition = false;
 			}
@@ -321,13 +313,6 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const batt
 			}
 		}
 
-		/* reset feedback state */
-		if (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR &&
-		    status->arming_state != vehicle_status_s::ARMING_STATE_INIT &&
-		    valid_transition) {
-			status_flags->condition_system_prearm_error_reported = false;
-		}
-
 		/* end of atomic state update */
 #ifdef __PX4_NUTTX
 		px4_leave_critical_section(flags);