diff --git a/src/AutoPilotPlugins/PX4/PowerComponent.qml b/src/AutoPilotPlugins/PX4/PowerComponent.qml
index f0c1b68a38c078485da9f11b00304cc878f5fec0..a02c801b750dc89b0bbc88cdc5c6716f0b79e593 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponent.qml
+++ b/src/AutoPilotPlugins/PX4/PowerComponent.qml
@@ -110,6 +110,7 @@ QGCView {
                 onCalibrationFailed:    showMessage("ESC Calibration failed", errorMessage, StandardButton.Ok)
                 onCalibrationSuccess:   showMessage("ESC Calibration", "Calibration complete. You can disconnect your battery now if you like.", StandardButton.Ok)
                 onConnectBattery:       showMessage("ESC Calibration", "WARNING: Props must be removed from vehicle prior to performing ESC calibration.\n\nConnect the battery now and calibration will begin.", 0)
+                onDisconnectBattery:    showMessage("ESC Calibration failed", "You must disconnect the battery prior to performing ESC Calibration. Disconnect your battery and try again.", , StandardButton.Ok)
             }
 
             Column {
diff --git a/src/AutoPilotPlugins/PX4/PowerComponentController.cc b/src/AutoPilotPlugins/PX4/PowerComponentController.cc
index 4b2c076a5c62a0605dcfce5e980b2626e31ef775..ce17b810ec754660d3634474814e6e4dda759b32 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/PowerComponentController.cc
@@ -105,8 +105,15 @@ void PowerComponentController::_handleUASTextMessage(int uasId, int compId, int
         return;
     }
 
+    
     QString failedPrefix("calibration failed: ");
     if (text.startsWith(failedPrefix)) {
+        QString failureText = text.right(text.length() - failedPrefix.length());
+        if (failureText.startsWith("Disconnect battery")) {
+            emit disconnectBattery();
+            return;
+        }
+        
         _stopCalibration();
         emit calibrationFailed(text.right(text.length() - failedPrefix.length()));
         return;
diff --git a/src/AutoPilotPlugins/PX4/PowerComponentController.h b/src/AutoPilotPlugins/PX4/PowerComponentController.h
index 3c7704575d4c747c59b8e07f12570e174a8834c5..0b99874df3c3cda11b1a49bf0ba2eadb3d1496c9 100644
--- a/src/AutoPilotPlugins/PX4/PowerComponentController.h
+++ b/src/AutoPilotPlugins/PX4/PowerComponentController.h
@@ -49,6 +49,7 @@ signals:
     void newerFirmware(void);
     void incorrectFirmwareRevReporting(void);
     void connectBattery(void);
+    void disconnectBattery(void);
     void batteryConnected(void);
     void calibrationFailed(const QString& errorMessage);
     void calibrationSuccess(const QStringList& warningMessages);