diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg
index 5a61f7296e..1d5351c2f6 100644
--- a/msg/vehicle_status.msg
+++ b/msg/vehicle_status.msg
@@ -6,7 +6,7 @@ uint8 ARMING_STATE_INIT = 0
 uint8 ARMING_STATE_STANDBY = 1
 uint8 ARMING_STATE_ARMED = 2
 uint8 ARMING_STATE_STANDBY_ERROR = 3
-uint8 ARMING_STATE_REBOOT = 4
+uint8 ARMING_STATE_SHUTDOWN = 4
 uint8 ARMING_STATE_IN_AIR_RESTORE = 5
 uint8 ARMING_STATE_MAX = 6
 
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 7bc6008cba..e69fde48f2 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -525,7 +525,7 @@ void print_status()
 
 bool shutdown_if_allowed()
 {
-	return TRANSITION_DENIED != arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_REBOOT,
+	return TRANSITION_DENIED != arming_state_transition(&status, safety, vehicle_status_s::ARMING_STATE_SHUTDOWN,
 			&armed, false /* fRunPreArmChecks */, &mavlink_log_pub, &status_flags, arm_requirements,
 			hrt_elapsed_time(&commander_boot_timestamp));
 }
diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
index 2231c30923..4aefbc988a 100644
--- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp
+++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp
@@ -128,8 +128,8 @@ bool StateMachineHelperTest::armingStateTransitionTest()
 		{
 			"transition: init to reboot",
 			{ vehicle_status_s::ARMING_STATE_INIT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
-			vehicle_status_s::ARMING_STATE_REBOOT,
-			{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
+			vehicle_status_s::ARMING_STATE_SHUTDOWN,
+			{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
 		},
 
 		{
@@ -149,8 +149,8 @@ bool StateMachineHelperTest::armingStateTransitionTest()
 		{
 			"transition: standby to reboot",
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
-			vehicle_status_s::ARMING_STATE_REBOOT,
-			{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
+			vehicle_status_s::ARMING_STATE_SHUTDOWN,
+			{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
 		},
 
 		{
@@ -163,8 +163,8 @@ bool StateMachineHelperTest::armingStateTransitionTest()
 		{
 			"transition: standby error to reboot",
 			{ vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
-			vehicle_status_s::ARMING_STATE_REBOOT,
-			{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
+			vehicle_status_s::ARMING_STATE_SHUTDOWN,
+			{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
 		},
 
 		{
@@ -177,8 +177,8 @@ bool StateMachineHelperTest::armingStateTransitionTest()
 		{
 			"transition: in air restore to reboot",
 			{ vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE, ATT_DISARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
-			vehicle_status_s::ARMING_STATE_REBOOT,
-			{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
+			vehicle_status_s::ARMING_STATE_SHUTDOWN,
+			{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_CHANGED
 		},
 
 		// hil on tests, standby error to standby not normally allowed
@@ -227,7 +227,7 @@ bool StateMachineHelperTest::armingStateTransitionTest()
 		{
 			"no transition: armed to reboot",
 			{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
-			vehicle_status_s::ARMING_STATE_REBOOT,
+			vehicle_status_s::ARMING_STATE_SHUTDOWN,
 			{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED, ATT_READY_TO_ARM }, TRANSITION_DENIED
 		},
 
@@ -247,9 +247,9 @@ bool StateMachineHelperTest::armingStateTransitionTest()
 
 		{
 			"no transition: reboot to armed",
-			{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
+			{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
 			vehicle_status_s::ARMING_STATE_ARMED,
-			{ vehicle_status_s::ARMING_STATE_REBOOT, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
+			{ vehicle_status_s::ARMING_STATE_SHUTDOWN, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED
 		},
 
 		{
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index be7cffa469..0d0f31026d 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -66,13 +66,13 @@ static constexpr const char reason_no_datalink[] = "no datalink";
 // code for those checks.
 static constexpr const bool arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX]
 = {
-	//                                                    INIT,  STANDBY, ARMED, STANDBY_ERROR, REBOOT, IN_AIR_RESTORE
-	{ /* vehicle_status_s::ARMING_STATE_INIT */           true,  true,    false, true,          false,  false },
-	{ /* vehicle_status_s::ARMING_STATE_STANDBY */        true,  true,    true,  false,         false,  false },
-	{ /* vehicle_status_s::ARMING_STATE_ARMED */          false, true,    true,  false,         false,  true },
-	{ /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */  true,  true,    true,  true,          false,  false },
-	{ /* vehicle_status_s::ARMING_STATE_REBOOT */         true,  true,    false, true,          true,   true },
-	{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false,   false, false,         false,  false }, // NYI
+	//                                                    INIT,  STANDBY, ARMED, STANDBY_ERROR, SHUTDOWN, IN_AIR_RESTORE
+	{ /* vehicle_status_s::ARMING_STATE_INIT */           true,  true,    false, true,          false,    false },
+	{ /* vehicle_status_s::ARMING_STATE_STANDBY */        true,  true,    true,  false,         false,    false },
+	{ /* vehicle_status_s::ARMING_STATE_ARMED */          false, true,    true,  false,         false,    true },
+	{ /* vehicle_status_s::ARMING_STATE_STANDBY_ERROR */  true,  true,    true,  true,          false,    false },
+	{ /* vehicle_status_s::ARMING_STATE_SHUTDOWN */       true,  true,    false, true,          true,     true },
+	{ /* vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE */ false, false,   false, false,         false,    false }, // NYI
 };
 
 // You can index into the array with an arming_state_t in order to get its textual representation
@@ -81,7 +81,7 @@ const char *const arming_state_names[vehicle_status_s::ARMING_STATE_MAX] = {
 	"STANDBY",
 	"ARMED",
 	"STANDBY_ERROR",
-	"REBOOT",
+	"SHUTDOWN",
 	"IN_AIR_RESTORE",
 };
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 56345cb8e0..cc80d8dc90 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -292,7 +292,7 @@ void get_mavlink_mode_state(const struct vehicle_status_s *const status, uint8_t
 	} else if (status->arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
 		*mavlink_state = MAV_STATE_STANDBY;
 
-	} else if (status->arming_state == vehicle_status_s::ARMING_STATE_REBOOT) {
+	} else if (status->arming_state == vehicle_status_s::ARMING_STATE_SHUTDOWN) {
 		*mavlink_state = MAV_STATE_POWEROFF;
 
 	} else {