diff --git a/src/modules/mavlink/streams/BATTERY_STATUS.hpp b/src/modules/mavlink/streams/BATTERY_STATUS.hpp
index 5824c534eb..055dce5e2e 100644
--- a/src/modules/mavlink/streams/BATTERY_STATUS.hpp
+++ b/src/modules/mavlink/streams/BATTERY_STATUS.hpp
@@ -72,10 +72,13 @@ private:
 				bat_msg.id = battery_status.id - 1;
 				bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL;
 				bat_msg.type = MAV_BATTERY_TYPE_LIPO;
-				bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1;
+				bat_msg.current_consumed = (battery_status.connected
+							    && fabsf(battery_status.discharged_mah + 1.f) > FLT_EPSILON) ? battery_status.discharged_mah : -1;
 				bat_msg.energy_consumed = -1;
-				bat_msg.current_battery = (battery_status.connected) ? battery_status.current_a * 100 : -1;
-				bat_msg.battery_remaining = (battery_status.connected) ? roundf(battery_status.remaining * 100.f) : -1;
+				bat_msg.current_battery = (battery_status.connected
+							   && fabsf(battery_status.current_a + 1.f) > FLT_EPSILON) ? battery_status.current_a * 100 : -1;
+				bat_msg.battery_remaining = (battery_status.connected
+							     && fabsf(battery_status.remaining + 1.f) > FLT_EPSILON) ? roundf(battery_status.remaining * 100.f) : -1;
 				// MAVLink extension: 0 is unsupported, in uORB it's NAN
 				bat_msg.time_remaining = (battery_status.connected && (PX4_ISFINITE(battery_status.time_remaining_s))) ?
 							 math::max((int)battery_status.time_remaining_s, 1) : 0;
diff --git a/src/modules/mavlink/streams/SYS_STATUS.hpp b/src/modules/mavlink/streams/SYS_STATUS.hpp
index 7a89501793..fbde745dc2 100644
--- a/src/modules/mavlink/streams/SYS_STATUS.hpp
+++ b/src/modules/mavlink/streams/SYS_STATUS.hpp
@@ -170,8 +170,8 @@ private:
 
 			if (lowest_battery.connected) {
 				msg.voltage_battery = lowest_battery.voltage_v * 1000.0f;
-				msg.current_battery = lowest_battery.current_a * 100.0f;
-				msg.battery_remaining = ceilf(lowest_battery.remaining * 100.0f);
+				msg.current_battery = (fabsf(lowest_battery.current_a + 1.f) > FLT_EPSILON) ? lowest_battery.current_a * 100.0f : -1;
+				msg.battery_remaining = (fabsf(lowest_battery.remaining + 1.f) > FLT_EPSILON) ? ceilf(lowest_battery.remaining * 100.0f) : -1;
 
 			} else {
 				msg.voltage_battery = UINT16_MAX;