diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 7faf3149f7..07ec502001 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1582,6 +1582,8 @@ int commander_thread_main(int argc, char *argv[])
 			low_battery_voltage_actions_done = true;
 			if (armed.armed) {
 				mavlink_log_critical(mavlink_fd, "LOW BATTERY, RETURN TO LAND ADVISED");
+			} else {
+				mavlink_log_critical(mavlink_fd, "LOW BATTERY, TAKEOFF DISCOURAGED");
 			}
 			status.battery_warning = vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW;
 			status_changed = true;
@@ -2054,11 +2056,13 @@ int commander_thread_main(int argc, char *argv[])
 			set_tune(TONE_ARMING_WARNING_TUNE);
 			arm_tune_played = true;
 
-		} else if (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
+		} else if (status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
+				status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
 			/* play tune on battery critical */
 			set_tune(TONE_BATTERY_WARNING_FAST_TUNE);
 
-		} else if (status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe) {
+		} else if (status.hil_state != vehicle_status_s::HIL_STATE_ON) &&
+				(status.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW || status.failsafe)) {
 			/* play tune on battery warning or failsafe */
 			set_tune(TONE_BATTERY_WARNING_SLOW_TUNE);