diff --git a/src/drivers/power_monitor/ina220/ina220.cpp b/src/drivers/power_monitor/ina220/ina220.cpp
index c8f52bf71c..bde68ce875 100644
--- a/src/drivers/power_monitor/ina220/ina220.cpp
+++ b/src/drivers/power_monitor/ina220/ina220.cpp
@@ -329,8 +329,6 @@ INA220::RunImpl()
 
 		if (_ch_type == PM_CH_TYPE_VBATT) {
 			_battery.setConnected(false);
-			_battery.updateVoltage(0.f);
-			_battery.updateCurrent(0.f);
 			_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 		}
 
diff --git a/src/drivers/power_monitor/ina226/ina226.cpp b/src/drivers/power_monitor/ina226/ina226.cpp
index f61a7c7b79..60fb333699 100644
--- a/src/drivers/power_monitor/ina226/ina226.cpp
+++ b/src/drivers/power_monitor/ina226/ina226.cpp
@@ -83,10 +83,10 @@ INA226::INA226(const I2CSPIDriverConfig &config, int battery_index) :
 	_power_lsb = 25 * _current_lsb;
 
 	// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
-	_battery.setConnected(false);
-	_battery.updateVoltage(0.f);
-	_battery.updateCurrent(0.f);
+	setConnected(false);
 	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
+
+	I2C::_retries = 5;
 }
 
 INA226::~INA226()
@@ -226,14 +226,11 @@ INA226::collect()
 	success = success && (read(INA226_REG_CURRENT, _current) == PX4_OK);
 	// success = success && (read(INA226_REG_SHUNTVOLTAGE, _shunt) == PX4_OK);
 
-	if (!success) {
-		PX4_DEBUG("error reading from sensor");
-		_bus_voltage = _power = _current = _shunt = 0;
+	if (setConnected(success)) {
+		_battery.updateVoltage(static_cast<float>(_bus_voltage * INA226_VSCALE));
+		_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
 	}
 
-	_battery.setConnected(success);
-	_battery.updateVoltage(static_cast<float>(_bus_voltage * INA226_VSCALE));
-	_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
 	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 	perf_end(_sample_perf);
@@ -246,6 +243,7 @@ INA226::collect()
 	}
 }
 
+
 void
 INA226::start()
 {
@@ -297,9 +295,7 @@ INA226::RunImpl()
 		ScheduleDelayed(INA226_CONVERSION_INTERVAL);
 
 	} else {
-		_battery.setConnected(false);
-		_battery.updateVoltage(0.f);
-		_battery.updateCurrent(0.f);
+		setConnected(false);
 		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 		if (init() != PX4_OK) {
@@ -308,6 +304,28 @@ INA226::RunImpl()
 	}
 }
 
+bool INA226::setConnected(bool state)
+{
+	// Filter out brief I2C failures for 2s
+	if (state) {
+		_connected = INA226_SAMPLE_FREQUENCY_HZ * 2;
+
+	} else if (_connected > 0) {
+		_connected--;
+	}
+
+	if (_connected > 0) {
+		_battery.setConnected(true);
+
+	} else {
+		_battery.setConnected(false);
+		_battery.updateVoltage(0);
+		_battery.updateCurrent(0);
+	}
+
+	return state;
+}
+
 void
 INA226::print_status()
 {
diff --git a/src/drivers/power_monitor/ina226/ina226.h b/src/drivers/power_monitor/ina226/ina226.h
index a402a079ab..a69695a1cc 100644
--- a/src/drivers/power_monitor/ina226/ina226.h
+++ b/src/drivers/power_monitor/ina226/ina226.h
@@ -206,6 +206,10 @@ private:
 	int read(uint8_t address, int16_t &data);
 	int write(uint8_t address, uint16_t data);
 
+	uint8_t _connected{0};
+	// returns state unchanged
+	bool setConnected(bool state);
+
 	/**
 	* Initialise the automatic measurement state machine and start it.
 	*
diff --git a/src/drivers/power_monitor/ina228/ina228.cpp b/src/drivers/power_monitor/ina228/ina228.cpp
index e586590470..fd7494d3f3 100644
--- a/src/drivers/power_monitor/ina228/ina228.cpp
+++ b/src/drivers/power_monitor/ina228/ina228.cpp
@@ -98,11 +98,10 @@ INA228::INA228(const I2CSPIDriverConfig &config, int battery_index) :
 	_power_lsb = 3.2f * _current_lsb;
 
 	// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
-	_battery.setConnected(false);
-	_battery.updateVoltage(0.f);
-	_battery.updateCurrent(0.f);
-	_battery.updateTemperature(0.f);
+	setConnected(false);
 	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
+
+	I2C::_retries = 5;
 }
 
 INA228::~INA228()
@@ -322,15 +321,12 @@ INA228::collect()
 	//success = success && (read(INA228_REG_VSHUNT, _shunt) == PX4_OK);
 	success = success && (read(INA228_REG_DIETEMP, _temperature) == PX4_OK);
 
-	if (!success) {
-		PX4_DEBUG("error reading from sensor");
-		_bus_voltage = _power = _current = _shunt = 0;
+	if (setConnected(success)) {
+		_battery.updateVoltage(static_cast<float>(_bus_voltage * INA228_VSCALE));
+		_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
+		_battery.updateTemperature(static_cast<float>(_temperature * INA228_TSCALE));
 	}
 
-	_battery.setConnected(success);
-	_battery.updateVoltage(static_cast<float>(_bus_voltage * INA228_VSCALE));
-	_battery.updateCurrent(static_cast<float>(_current * _current_lsb));
-	_battery.updateTemperature(static_cast<float>(_temperature * INA228_TSCALE));
 	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 	perf_end(_sample_perf);
@@ -394,10 +390,7 @@ INA228::RunImpl()
 		ScheduleDelayed(INA228_CONVERSION_INTERVAL);
 
 	} else {
-		_battery.setConnected(false);
-		_battery.updateVoltage(0.f);
-		_battery.updateCurrent(0.f);
-		_battery.updateTemperature(0.f);
+		setConnected(false);
 		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 		if (init() != PX4_OK) {
@@ -406,6 +399,29 @@ INA228::RunImpl()
 	}
 }
 
+bool INA228::setConnected(bool state)
+{
+	// Filter out brief I2C failures for 2s
+	if (state) {
+		_connected = INA228_SAMPLE_FREQUENCY_HZ * 2;
+
+	} else if (_connected > 0) {
+		_connected--;
+	}
+
+	if (_connected > 0) {
+		_battery.setConnected(true);
+
+	} else {
+		_battery.setConnected(false);
+		_battery.updateVoltage(0);
+		_battery.updateCurrent(0);
+		_battery.updateTemperature(0);
+	}
+
+	return state;
+}
+
 void
 INA228::print_status()
 {
diff --git a/src/drivers/power_monitor/ina228/ina228.h b/src/drivers/power_monitor/ina228/ina228.h
index 46e152ff00..72a89e6dcb 100644
--- a/src/drivers/power_monitor/ina228/ina228.h
+++ b/src/drivers/power_monitor/ina228/ina228.h
@@ -356,6 +356,9 @@ private:
 
 	Battery 		  _battery;
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+	uint8_t _connected{0};
+	// returns state unchanged
+	bool setConnected(bool state);
 
 	int read(uint8_t address, int16_t &data);
 	int write(uint8_t address, int16_t data);
diff --git a/src/drivers/power_monitor/ina238/ina238.cpp b/src/drivers/power_monitor/ina238/ina238.cpp
index a55f71b893..f42ae87764 100644
--- a/src/drivers/power_monitor/ina238/ina238.cpp
+++ b/src/drivers/power_monitor/ina238/ina238.cpp
@@ -90,11 +90,10 @@ INA238::INA238(const I2CSPIDriverConfig &config, int battery_index) :
 	_register_cfg[2].clear_bits = ~_shunt_calibration;
 
 	// We need to publish immediately, to guarantee that the first instance of the driver publishes to uORB instance 0
-	_battery.setConnected(false);
-	_battery.updateVoltage(0.f);
-	_battery.updateCurrent(0.f);
-	_battery.updateTemperature(0.f);
+	setConnected(false);
 	_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
+
+	I2C::_retries = 5;
 }
 
 INA238::~INA238()
@@ -178,11 +177,8 @@ int INA238::probe()
 
 int INA238::Reset()
 {
-
 	int ret = PX4_ERROR;
 
-	_retries = 3;
-
 	if (RegisterWrite(Register::CONFIG, (uint16_t)(ADC_RESET_BIT)) != PX4_OK) {
 		return ret;
 	}
@@ -254,13 +250,11 @@ int INA238::collect()
 	success = success && (RegisterRead(Register::CURRENT, (uint16_t &)current) == PX4_OK);
 	success = success && (RegisterRead(Register::DIETEMP, (uint16_t &)temperature) == PX4_OK);
 
-	if (success) {
+	if (setConnected(success)) {
 		_battery.updateVoltage(static_cast<float>(bus_voltage * INA238_VSCALE));
 		_battery.updateCurrent(static_cast<float>(current * _current_lsb));
 		_battery.updateTemperature(static_cast<float>(temperature * INA238_TSCALE));
 
-		_battery.setConnected(success);
-
 		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 	}
 
@@ -276,8 +270,7 @@ int INA238::collect()
 			perf_count(_bad_register_perf);
 			success = false;
 
-			_battery.setConnected(success);
-
+			setConnected(false);
 			_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 		}
 	}
@@ -338,10 +331,7 @@ void INA238::RunImpl()
 		ScheduleDelayed(INA238_CONVERSION_INTERVAL);
 
 	} else {
-		_battery.setConnected(false);
-		_battery.updateVoltage(0.f);
-		_battery.updateCurrent(0.f);
-		_battery.updateTemperature(0.f);
+		setConnected(false);
 		_battery.updateAndPublishBatteryStatus(hrt_absolute_time());
 
 		if (init() != PX4_OK) {
@@ -354,6 +344,29 @@ void INA238::RunImpl()
 	}
 }
 
+bool INA238::setConnected(bool state)
+{
+	// Filter out brief I2C failures for 2s
+	if (state) {
+		_connected = INA238_SAMPLE_FREQUENCY_HZ * 2;
+
+	} else if (_connected > 0) {
+		_connected--;
+	}
+
+	if (_connected > 0) {
+		_battery.setConnected(true);
+
+	} else {
+		_battery.setConnected(false);
+		_battery.updateVoltage(0);
+		_battery.updateCurrent(0);
+		_battery.updateTemperature(0);
+	}
+
+	return state;
+}
+
 void INA238::print_status()
 {
 	I2CSPIDriverBase::print_status();
diff --git a/src/drivers/power_monitor/ina238/ina238.h b/src/drivers/power_monitor/ina238/ina238.h
index 7d888aef54..62750c44c4 100644
--- a/src/drivers/power_monitor/ina238/ina238.h
+++ b/src/drivers/power_monitor/ina238/ina238.h
@@ -154,6 +154,9 @@ private:
 
 	Battery _battery;
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+	uint8_t _connected{0};
+	// returns state unchanged
+	bool setConnected(bool state);
 
 	int read(uint8_t address, uint16_t &data);
 	int write(uint8_t address, uint16_t data);