diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index a29fa2e07cf..e9167e09120 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -351,16 +351,23 @@ static void checkBatteryCapacityState(void)
 
 void batteryUpdate(timeUs_t timeDelta)
 {
+    static timeUs_t batteryConnectedTime = 0;
     /* battery has just been connected*/
     if (batteryState == BATTERY_NOT_PRESENT && vbat > VBATT_PRESENT_THRESHOLD) {
+        if(batteryConnectedTime == 0) {
+            batteryConnectedTime = micros();
+            return;
+        }
 
-        /* Actual battery state is calculated below, this is really BATTERY_PRESENT */
-        batteryState = BATTERY_OK;
         /* wait for VBatt to stabilise then we can calc number of cells
         (using the filtered value takes a long time to ramp up)
-        We only do this on the ground so don't care if we do block, not
-        worse than original code anyway*/
-        delay(VBATT_STABLE_DELAY);
+        Blocking can cause issues with some ESCs */
+        if((micros() - batteryConnectedTime) < VBATT_STABLE_DELAY) {
+            return;
+        }
+
+        /* Actual battery state is calculated below, this is really BATTERY_PRESENT */
+        batteryState = BATTERY_OK;
         updateBatteryVoltage(timeDelta, true);
 
         int8_t detectedProfileIndex = -1;
@@ -396,6 +403,7 @@ void batteryUpdate(timeUs_t timeDelta)
         /* battery has been disconnected - can take a while for filter cap to disharge so we use a threshold of VBATT_PRESENT_THRESHOLD */
         if (batteryState != BATTERY_NOT_PRESENT && vbat <= VBATT_PRESENT_THRESHOLD) {
             batteryState = BATTERY_NOT_PRESENT;
+            batteryConnectedTime = 0;
             batteryCellCount = 0;
             batteryWarningVoltage = 0;
             batteryCriticalVoltage = 0;