diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index c73dadff34..97a0ea7d2a 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -920,14 +920,19 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n
 			}
 
 		} else {
+			int failover_index = sensor.voter.failover_index();
+
 			mavlink_log_emergency(&_mavlink_log_pub, "%s #%i fail: %s%s%s%s%s!",
 					      sensor_name,
-					      sensor.voter.failover_index(),
+					      failover_index,
 					      ((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " OFF" : ""),
 					      ((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " STALE" : ""),
 					      ((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " TOUT" : ""),
 					      ((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " ECNT" : ""),
 					      ((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " EDNST" : ""));
+
+			// reduce priority of failed sensor to the minimum
+			sensor.priority[failover_index] = 1;
 		}
 
 		sensor.last_failover_count = sensor.voter.failover_count();
@@ -1258,4 +1263,4 @@ void VotedSensorsUpdate::calc_mag_inconsistency(sensor_preflight_s &preflt)
 		// get the vector length of the largest difference and write to the combined sensor struct
 		preflt.mag_inconsistency_ga = sqrtf(mag_diff_sum_max_sq);
 	}
-}
\ No newline at end of file
+}