diff --git a/src/modules/src/supervisor.c b/src/modules/src/supervisor.c
index d9e6ae3e7..57816d650 100644
--- a/src/modules/src/supervisor.c
+++ b/src/modules/src/supervisor.c
@@ -263,9 +263,9 @@ static void postTransitionActions(SupervisorMem_t* this, const supervisorState_t
   if (newState == supervisorStateLanded) {
     supervisorSetLatestLandingTime(this, currentTick);
   }
-  
-  if ((previousState == supervisorStateLanded) && (newState == supervisorStateReset)) {
-    DEBUG_PRINT("Landing timeout, disarming\n");
+
+  if ((previousState == supervisorStateFlying || previousState == supervisorStateLanded) && (newState == supervisorStateReset)) {
+    DEBUG_PRINT("Disarming\n");
   }
 
   if (newState == supervisorStateLocked) {
diff --git a/src/modules/src/supervisor_state_machine.c b/src/modules/src/supervisor_state_machine.c
index 636b6e378..73a1b9400 100644
--- a/src/modules/src/supervisor_state_machine.c
+++ b/src/modules/src/supervisor_state_machine.c
@@ -160,7 +160,7 @@ static SupervisorStateTransition_t transitionsFlying[] = {
     .newState = supervisorStateExceptFreeFall,
 
     .triggers = SUPERVISOR_CB_COMMANDER_WDT_TIMEOUT | SUPERVISOR_CB_EMERGENCY_STOP,
-    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .negatedTriggers = SUPERVISOR_CB_NONE,
     .triggerCombiner = supervisorAny,
 
     .blockerCombiner = supervisorNever,
@@ -169,11 +169,20 @@ static SupervisorStateTransition_t transitionsFlying[] = {
     .newState = supervisorStateCrashed,
 
     .triggers = SUPERVISOR_CB_IS_TUMBLED,
-    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .negatedTriggers = SUPERVISOR_CB_NONE,
     .triggerCombiner = supervisorAny,
 
     .blockerCombiner = supervisorNever,
   },
+  {
+    .newState = supervisorStateReset,
+
+    .triggers = SUPERVISOR_CB_NONE,
+    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .triggerCombiner = supervisorAll,
+
+    .blockerCombiner = supervisorNever,
+  },
   {
     .newState = supervisorStateWarningLevelOut,
 
@@ -199,8 +208,8 @@ static SupervisorStateTransition_t transitionsLanded[] = {
     .newState = supervisorStateReset,
 
     .triggers = SUPERVISOR_CB_LANDING_TIMEOUT,
-    .negatedTriggers = SUPERVISOR_CB_NONE,
-    .triggerCombiner = supervisorAll,
+    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .triggerCombiner = supervisorAny,
 
     .blockerCombiner = supervisorNever,
   },
@@ -230,7 +239,7 @@ static SupervisorStateTransition_t transitionsWarningLevelOut[] = {
     .newState = supervisorStateExceptFreeFall,
 
     .triggers = SUPERVISOR_CB_COMMANDER_WDT_TIMEOUT | SUPERVISOR_CB_IS_TUMBLED | SUPERVISOR_CB_EMERGENCY_STOP,
-    .negatedTriggers = SUPERVISOR_CB_ARMED,
+    .negatedTriggers = SUPERVISOR_CB_NONE,
     .triggerCombiner = supervisorAny,
 
     .blockerCombiner = supervisorNever,