From 10f4fc778379132b3a10d765cd5da8eadf33f882 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 19 Jul 2021 10:34:37 -0400
Subject: [PATCH] ekf2: don't print distance_sensor selection unless there are
 multiple options

---
 src/modules/ekf2/EKF2.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index fef13e3fe0..96d96380d7 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -1608,7 +1608,12 @@ void EKF2::UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps)
 					    && (distance_sensor.orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING)) {
 
 						if (_distance_sensor_sub.ChangeInstance(i)) {
-							PX4_INFO("%d - selected distance_sensor:%d", _instance, i);
+							int ndist = orb_group_count(ORB_ID(distance_sensor));
+
+							if (ndist > 1) {
+								PX4_INFO("%d - selected distance_sensor:%d (%d advertised)", _instance, i, ndist);
+							}
+
 							_distance_sensor_selected = true;
 							break;
 						}