diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 250a92cfb4..c9d5259f33 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1930,9 +1930,9 @@ int commander_thread_main(int argc, char *argv[])
 
 						if (arming_ret == TRANSITION_CHANGED) {
 							arming_state_changed = true;
+						} else {
+							print_reject_arm("NOT ARMING: Configuration error");
 						}
-					} else {
-						print_reject_arm("NOT ARMING: Configuration error");
 					}
 
 					stick_on_counter = 0;
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 2f3da424c6..c9c09ac300 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -93,6 +93,8 @@ static const char * const state_names[vehicle_status_s::ARMING_STATE_MAX] = {
 	"ARMING_STATE_IN_AIR_RESTORE",
 };
 
+static bool sensor_feedback_provided = false;
+
 transition_result_t
 arming_state_transition(struct vehicle_status_s *status,		///< current vehicle status
 			const struct safety_s   *safety,		///< current safety settings
@@ -241,10 +243,12 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 			(new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
 			(status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) &&
 			(!status->condition_system_sensors_initialized)) {
-			mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
+			if (!sensor_feedback_provided) {
+				mavlink_and_console_log_critical(mavlink_fd, "Not ready to fly: Sensors need inspection");
+				sensor_feedback_provided = true;
+			}
 			feedback_provided = true;
 			valid_transition = false;
-			status->arming_state = vehicle_status_s::ARMING_STATE_STANDBY_ERROR;
 		}
 
 		// Finish up the state transition
@@ -255,6 +259,11 @@ arming_state_transition(struct vehicle_status_s *status,		///< current vehicle s
 			status->arming_state = new_arming_state;
 		}
 
+		/* reset feedback state */
+		if (status->arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
+			sensor_feedback_provided = false;
+		}
+
 		/* end of atomic state update */
 		#ifdef __PX4_NUTTX
 		irqrestore(flags);