diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 312ead864a..c64da6ac35 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -67,7 +67,6 @@ static int _fd;
 static unsigned char _buf[2048];
 static sockaddr_in _srcaddr;
 static unsigned _addrlen = sizeof(_srcaddr);
-static hrt_abstime batt_sim_start = 0;
 
 const unsigned mode_flag_armed = 128;
 const unsigned mode_flag_custom = 1;
@@ -371,6 +370,9 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
 
 	update_sensors(now_us, imu);
 
+	static float battery_percentage = 1.0f;
+	static uint64_t last_integration_us = 0;
+
 	// battery simulation (limit update to 100Hz)
 	if (hrt_elapsed_time(&_battery_status.timestamp) >= 10_ms) {
 
@@ -378,15 +380,19 @@ void Simulator::handle_message_hil_sensor(const mavlink_message_t *msg)
 
 		bool armed = (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
 
-		if (!armed || batt_sim_start == 0 || batt_sim_start > now_us) {
-			batt_sim_start = now_us;
+		if (armed) {
+			if (last_integration_us != 0) {
+				battery_percentage -= (now_us - last_integration_us) / discharge_interval_us;
+			}
+
+			last_integration_us = now_us;
+
+		} else {
+			last_integration_us = 0;
 		}
 
 		float ibatt = -1.0f; // no current sensor in simulation
 
-		/* Simulate the voltage of a linearly draining battery but stop at the minimum percentage */
-		float battery_percentage = 1.0f - (now_us - batt_sim_start) / discharge_interval_us;
-
 		battery_percentage = math::max(battery_percentage, _battery_min_percentage.get() / 100.f);
 		float vbatt = math::gradual(battery_percentage, 0.f, 1.f, _battery.empty_cell_voltage(), _battery.full_cell_voltage());
 		vbatt *= _battery.cell_count();