diff --git a/platforms/common/include/px4_platform_common/log.h b/platforms/common/include/px4_platform_common/log.h
index 3a781ca411..8e709d86ae 100644
--- a/platforms/common/include/px4_platform_common/log.h
+++ b/platforms/common/include/px4_platform_common/log.h
@@ -424,3 +424,13 @@ __END_DECLS
 #define PX4_LOG_NAMED(name, FMT, ...) 	__px4_log_named_cond(name, true, FMT, ##__VA_ARGS__)
 #define PX4_LOG_NAMED_COND(name, cond, FMT, ...) __px4_log_named_cond(name, cond, FMT, ##__VA_ARGS__)
 #endif
+
+#define PX4_ANSI_COLOR_RED     "\x1b[31m"
+#define PX4_ANSI_COLOR_GREEN   "\x1b[32m"
+#define PX4_ANSI_COLOR_YELLOW  "\x1b[33m"
+#define PX4_ANSI_COLOR_BLUE    "\x1b[34m"
+#define PX4_ANSI_COLOR_MAGENTA "\x1b[35m"
+#define PX4_ANSI_COLOR_CYAN    "\x1b[36m"
+#define PX4_ANSI_COLOR_GRAY    "\x1B[37m"
+#define PX4_ANSI_COLOR_RESET   "\x1b[0m"
+
diff --git a/platforms/common/px4_log.cpp b/platforms/common/px4_log.cpp
index 0883784fb2..28cc92f3ca 100644
--- a/platforms/common/px4_log.cpp
+++ b/platforms/common/px4_log.cpp
@@ -54,15 +54,6 @@ static orb_advert_t orb_log_message_pub = nullptr;
 
 __EXPORT const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1] = { "DEBUG", "INFO", "WARN", "ERROR", "PANIC" };
 
-#define PX4_ANSI_COLOR_RED     "\x1b[31m"
-#define PX4_ANSI_COLOR_GREEN   "\x1b[32m"
-#define PX4_ANSI_COLOR_YELLOW  "\x1b[33m"
-#define PX4_ANSI_COLOR_BLUE    "\x1b[34m"
-#define PX4_ANSI_COLOR_MAGENTA "\x1b[35m"
-#define PX4_ANSI_COLOR_CYAN    "\x1b[36m"
-#define PX4_ANSI_COLOR_GRAY    "\x1B[37m"
-#define PX4_ANSI_COLOR_RESET   "\x1b[0m"
-
 static constexpr const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1] {
 	PX4_ANSI_COLOR_GREEN,  // DEBUG
 	PX4_ANSI_COLOR_RESET,  // INFO
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 5a6014ac65..e2e5a79fed 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2963,6 +2963,8 @@ Commander::run()
 				_vehicle_status_flags.pre_flight_checks_pass = _health_and_arming_checks.canArm(
 							_vehicle_status.nav_state);
 				perf_end(_preflight_check_perf);
+
+				check_and_inform_ready_for_takeoff();
 			}
 
 			// publish actuator_armed first (used by output modules)
@@ -3099,6 +3101,23 @@ Commander::get_circuit_breaker_params()
 				CBRK_VTOLARMING_KEY);
 }
 
+void Commander::check_and_inform_ready_for_takeoff()
+{
+#ifdef CONFIG_ARCH_BOARD_PX4_SITL
+	static bool ready_for_takeoff_printed = false;
+
+	if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ||
+	    _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
+		if (!ready_for_takeoff_printed &&
+		    _health_and_arming_checks.canArm(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF)) {
+			PX4_INFO("%sReady for takeoff!%s", PX4_ANSI_COLOR_GREEN, PX4_ANSI_COLOR_RESET);
+			ready_for_takeoff_printed = true;
+		}
+	}
+
+#endif // CONFIG_ARCH_BOARD_PX4_SITL
+}
+
 void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
 {
 	switch (blink_msg_state()) {
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index d38c5ade7b..5753212165 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -186,6 +186,8 @@ private:
 
 	void updateParameters();
 
+	void check_and_inform_ready_for_takeoff();
+
 	DEFINE_PARAMETERS(
 
 		(ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,