diff --git a/libraries/AP_Notify/ToneAlarm_PX4.cpp b/libraries/AP_Notify/ToneAlarm_PX4.cpp
index e74f5dab9e..bd1ed9ce20 100644
--- a/libraries/AP_Notify/ToneAlarm_PX4.cpp
+++ b/libraries/AP_Notify/ToneAlarm_PX4.cpp
@@ -277,8 +277,12 @@ void ToneAlarm_PX4::update()
         flags.pre_arm_check = AP_Notify::flags.pre_arm_check;
         if (flags.pre_arm_check) {
             play_tone(AP_NOTIFY_PX4_TONE_QUIET_READY_OR_FINISHED);
+            _have_played_ready_tone = true;
         } else {
-            play_tone(AP_NOTIFY_PX4_TONE_QUIET_NOT_READY_OR_NOT_FINISHED);
+            // only play sad tone if we've ever played happy tone:
+            if (_have_played_ready_tone) {
+                play_tone(AP_NOTIFY_PX4_TONE_QUIET_NOT_READY_OR_NOT_FINISHED);
+            }
         }
     }
 
diff --git a/libraries/AP_Notify/ToneAlarm_PX4.h b/libraries/AP_Notify/ToneAlarm_PX4.h
index 13eaa4f751..565388c422 100644
--- a/libraries/AP_Notify/ToneAlarm_PX4.h
+++ b/libraries/AP_Notify/ToneAlarm_PX4.h
@@ -62,6 +62,7 @@ private:
         uint16_t leak_detected         : 1;    // 1 if leak detected
         uint16_t powering_off          : 1;    // 1 if smart battery is powering off
     } flags;
+    bool _have_played_ready_tone : 1;
 
     int8_t _cont_tone_playing;
     int8_t _tone_playing;