diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index f189fbaacd..be7cffa469 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -226,7 +226,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
 	if (ret == TRANSITION_DENIED) {
 		/* print to MAVLink and console if we didn't provide any feedback yet */
 		if (!feedback_provided) {
-			mavlink_log_critical(mavlink_log_pub, "TRANSITION_DENIED: %s to %s",
+			mavlink_log_critical(mavlink_log_pub, "Transition denied: %s to %s",
 					     arming_state_names[status->arming_state], arming_state_names[new_arming_state]);
 		}
 	}
@@ -922,7 +922,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 	// USB not connected
 	if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
 		if (reportFailures) {
-			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Flying with USB is not safe");
+			mavlink_log_critical(mavlink_log_pub, "Arming denied! Flying with USB is not safe");
 		}
 
 		prearm_ok = false;
@@ -934,7 +934,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 		// Fail transition if power is not good
 		if (!status_flags.condition_power_input_valid) {
 			if (reportFailures) {
-				mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Connect power module");
+				mavlink_log_critical(mavlink_log_pub, "Arming denied! Connect power module");
 			}
 
 			prearm_ok = false;
@@ -943,7 +943,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 		// main battery level
 		if (!status_flags.condition_battery_healthy) {
 			if (prearm_ok && reportFailures) {
-				mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: CHECK BATTERY");
+				mavlink_log_critical(mavlink_log_pub, "Arming denied! Check battery");
 			}
 
 			prearm_ok = false;
@@ -955,7 +955,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 
 		if (!status_flags.condition_auto_mission_available) {
 			if (prearm_ok && reportFailures) {
-				mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: valid mission required");
+				mavlink_log_critical(mavlink_log_pub, "Arming denied! No valid mission");
 			}
 
 			prearm_ok = false;
@@ -963,7 +963,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 
 		if (!status_flags.condition_global_position_valid) {
 			if (prearm_ok && reportFailures) {
-				mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: mission requires global position");
+				mavlink_log_critical(mavlink_log_pub, "Arming denied! Missions require a global position");
 			}
 
 			prearm_ok = false;
@@ -975,7 +975,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 
 		if (!status_flags.condition_global_position_valid) {
 			if (prearm_ok && reportFailures) {
-				mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: global position required");
+				mavlink_log_critical(mavlink_log_pub, "Arming denied! Global position required");
 			}
 
 			prearm_ok = false;
@@ -986,7 +986,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 	if (safety.safety_switch_available && !safety.safety_off) {
 		// Fail transition if we need safety switch press
 		if (prearm_ok && reportFailures) {
-			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Press safety switch first");
+			mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety switch first");
 		}
 
 		prearm_ok = false;
@@ -1003,7 +1003,7 @@ bool prearm_check(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &s
 
 	if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
 		if (prearm_ok && reportFailures) {
-			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Avoidance system not ready");
+			mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready");
 		}
 
 		prearm_ok = false;
@@ -1023,16 +1023,16 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 		break;
 
 	case battery_status_s::BATTERY_WARNING_LOW:
-		mavlink_log_critical(mavlink_log_pub, "LOW BATTERY, RETURN ADVISED");
+		mavlink_log_critical(mavlink_log_pub, "Low battery level! Return advised");
 		break;
 
 	case battery_status_s::BATTERY_WARNING_CRITICAL:
 
-		static constexpr char battery_critical[] = "CRITICAL BATTERY";
+		static constexpr char battery_critical[] = "Critical battery level!";
 
 		switch (low_battery_action) {
 		case LOW_BAT_ACTION::WARNING:
-			mavlink_log_critical(mavlink_log_pub, "%s, RETURN ADVISED!", battery_critical);
+			mavlink_log_critical(mavlink_log_pub, "%s, Landing advised", battery_critical);
 			break;
 
 		case LOW_BAT_ACTION::RETURN:
@@ -1043,10 +1043,10 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 			// let us send the critical message even if already in RTL
 			if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags,
 					internal_state)) {
-				mavlink_log_critical(mavlink_log_pub, "%s, RETURNING", battery_critical);
+				mavlink_log_critical(mavlink_log_pub, "%s, Executing RTL", battery_critical);
 
 			} else {
-				mavlink_log_emergency(mavlink_log_pub, "%s, RETURN FAILED", battery_critical);
+				mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute RTL", battery_critical);
 			}
 
 			break;
@@ -1054,10 +1054,10 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 		case LOW_BAT_ACTION::LAND:
 			if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags,
 					internal_state)) {
-				mavlink_log_critical(mavlink_log_pub, "%s, LANDING AT CURRENT POSITION", battery_critical);
+				mavlink_log_critical(mavlink_log_pub, "%s, Landing immediately", battery_critical);
 
 			} else {
-				mavlink_log_emergency(mavlink_log_pub, "%s, LANDING FAILED", battery_critical);
+				mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute landing", battery_critical);
 			}
 
 			break;
@@ -1067,20 +1067,20 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 
 	case battery_status_s::BATTERY_WARNING_EMERGENCY:
 
-		static constexpr char battery_dangerous[] = "DANGEROUS BATTERY LEVEL";
+		static constexpr char battery_dangerous[] = "Dangerous battery level!";
 
 		switch (low_battery_action) {
 		case LOW_BAT_ACTION::WARNING:
-			mavlink_log_emergency(mavlink_log_pub, "%s, LANDING ADVISED!", battery_dangerous);
+			mavlink_log_emergency(mavlink_log_pub, "%s, Please land!", battery_dangerous);
 			break;
 
 		case LOW_BAT_ACTION::RETURN:
 			if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags,
 					internal_state)) {
-				mavlink_log_emergency(mavlink_log_pub, "%s, RETURNING", battery_dangerous);
+				mavlink_log_emergency(mavlink_log_pub, "%s, Executing RTL", battery_dangerous);
 
 			} else {
-				mavlink_log_emergency(mavlink_log_pub, "%s, RETURN FAILED", battery_dangerous);
+				mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute RTL", battery_dangerous);
 			}
 
 			break;
@@ -1091,10 +1091,10 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 		case LOW_BAT_ACTION::LAND:
 			if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags,
 					internal_state)) {
-				mavlink_log_emergency(mavlink_log_pub, "%s, LANDING IMMEDIATELY", battery_dangerous);
+				mavlink_log_emergency(mavlink_log_pub, "%s, Landing immediately", battery_dangerous);
 
 			} else {
-				mavlink_log_emergency(mavlink_log_pub, "%s, LANDING FAILED", battery_dangerous);
+				mavlink_log_emergency(mavlink_log_pub, "%s, Can't execute landing", battery_dangerous);
 			}
 
 			break;
@@ -1103,7 +1103,7 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
 		break;
 
 	case battery_status_s::BATTERY_WARNING_FAILED:
-		mavlink_log_emergency(mavlink_log_pub, "BATTERY FAILED");
+		mavlink_log_emergency(mavlink_log_pub, "Battery failure detected");
 		break;
 	}
 }