diff --git a/src/lib/ecl/validation/data_validator_group.cpp b/src/lib/ecl/validation/data_validator_group.cpp
index ac4bcc8b9b..e82e476416 100644
--- a/src/lib/ecl/validation/data_validator_group.cpp
+++ b/src/lib/ecl/validation/data_validator_group.cpp
@@ -199,7 +199,7 @@ void
 DataValidatorGroup::print()
 {
 	/* print the group's state */
-	ECL_INFO("validator: best: %d, prev best: %d, failsafe: %s (# %u)",
+	ECL_INFO("validator: best: %d, prev best: %d, failsafe: %s (%u events)",
 		_curr_best, _prev_best, (_toggle_count > 0) ? "YES" : "NO",
 		_toggle_count);
 
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index 1531e32778..b62c3b6cc5 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -369,12 +369,25 @@ void AttitudeEstimatorQ::task_main()
 
 			_data_good = true;
 
-			if (!_failsafe && (_voter_gyro.failover_count() > 0 ||
-					   _voter_accel.failover_count() > 0 ||
-					   _voter_mag.failover_count() > 0)) {
+			if (!_failsafe) {
+				if (_voter_gyro.failover_count() > 0) {
+					_failsafe = true;
+					mavlink_and_console_log_emergency(_mavlink_fd, "Gyro failure!");
+				}
 
-				_failsafe = true;
-				mavlink_and_console_log_emergency(_mavlink_fd, "SENSOR FAILSAFE! RETURN TO LAND IMMEDIATELY");
+				if (_voter_accel.failover_count() > 0) {
+					_failsafe = true;
+					mavlink_and_console_log_emergency(_mavlink_fd, "Accel failure!");
+				}
+
+				if (_voter_mag.failover_count() > 0) {
+					_failsafe = true;
+					mavlink_and_console_log_emergency(_mavlink_fd, "Mag failure!");
+				}
+
+				if (_failsafe) {
+					mavlink_and_console_log_emergency(_mavlink_fd, "SENSOR FAILSAFE! RETURN TO LAND IMMEDIATELY");
+				}
 			}
 
 			if (!_vibration_warning && (_voter_gyro.get_vibration_factor(curr_time) > _vibration_warning_threshold ||