diff --git a/src/modules/commander/health_flag_helper.cpp b/src/modules/commander/health_flag_helper.cpp
index d021a3d8ca..0351977680 100644
--- a/src/modules/commander/health_flag_helper.cpp
+++ b/src/modules/commander/health_flag_helper.cpp
@@ -43,7 +43,7 @@
 
 void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status)
 {
-	PX4_INFO("set_health_flags: Type %llu pres=%u enabl=%u ok=%u", subsystem_type, present, enabled, ok);
+	PX4_DEBUG("set_health_flags: Type %llu pres=%u enabl=%u ok=%u", subsystem_type, present, enabled, ok);
 
 	if (present) {
 		status.onboard_control_sensors_present |= (uint32_t)subsystem_type;
diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index 0345e89b33..e97ce51ca1 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -895,7 +895,7 @@ void VotedSensorsUpdate::baro_poll(vehicle_air_data_s &airdata)
 
 bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_name, const uint64_t type)
 {
-	if (sensor.last_failover_count != sensor.voter.failover_count()) {
+	if (sensor.last_failover_count != sensor.voter.failover_count() && !_hil_enabled) {
 
 		uint32_t flags = sensor.voter.failover_state();
 		int failover_index = sensor.voter.failover_index();