diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index bca8ef3f68..444f5b0c8d 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -598,6 +598,9 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 
 		if (!_health_and_arming_checks.canArm(_vehicle_status.nav_state)) {
 			tune_negative(true);
+			mavlink_log_critical(&_mavlink_log_pub, "Arming denied: Resolve system health failures first\t");
+			events::send(events::ID("commander_arm_denied_resolve_failures"), {events::Log::Critical, events::LogInternal::Info},
+				     "Arming denied: Resolve system health failures first");
 			return TRANSITION_DENIED;
 		}
 	}