diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 10d49aa941..de2355e043 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -536,9 +536,16 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 		break;
 
 	case VEHICLE_CMD_COMPONENT_ARM_DISARM: {
+
+			//Refuse to arm if preflight checks have failed
+			if(!status.condition_system_sensors_initialized) {
+				mavlink_log_critical(mavlink_fd, "Arming DENIED. Preflight checks have failed.");
+				cmd_result = VEHICLE_CMD_RESULT_DENIED;			
+				break;
+			}
+
 			// Adhere to MAVLink specs, but base on knowledge that these fundamentally encode ints
 			// for logic state parameters
-
 			if (static_cast<int>(cmd->param1 + 0.5f) != 0 && static_cast<int>(cmd->param1 + 0.5f) != 1) {
 				mavlink_log_critical(mavlink_fd, "Unsupported ARM_DISARM param: %.3f", (double)cmd->param1);
 
@@ -1115,6 +1122,8 @@ int commander_thread_main(int argc, char *argv[])
 	commander_initialized = true;
 	thread_running = true;
 
+	//Run preflight check
+	status.condition_system_sensors_initialized = Commander::preflightCheck(mavlink_fd, true, true, true, true, true);
 	const hrt_abstime commander_boot_timestamp = hrt_absolute_time();
 
 	transition_result_t arming_ret;
@@ -2104,7 +2113,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
 			rgbled_set_mode(RGBLED_MODE_ON);
 			set_normal_color = true;
 
-		} else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) {
+		} else if (status_local->arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR || !status.condition_system_sensors_initialized) {
 			rgbled_set_mode(RGBLED_MODE_BLINK_FAST);
 			rgbled_set_color(RGBLED_COLOR_RED);