diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index e17d750f57..93152ae534 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -48,4 +48,3 @@ add_subdirectory(rc)
 add_subdirectory(terrain_estimation)
 add_subdirectory(tunes)
 add_subdirectory(version)
-add_subdirectory(health_flags)
diff --git a/src/lib/health_flags/CMakeLists.txt b/src/lib/health_flags/CMakeLists.txt
deleted file mode 100644
index e24b814592..0000000000
--- a/src/lib/health_flags/CMakeLists.txt
+++ /dev/null
@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_library(health_flags health_flags.cpp)
diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt
index 1446bed4a9..f3e6412790 100644
--- a/src/modules/commander/CMakeLists.txt
+++ b/src/modules/commander/CMakeLists.txt
@@ -51,9 +51,9 @@ px4_add_module(
 		esc_calibration.cpp
 		PreflightCheck.cpp
 		arm_auth.cpp
+		health_flag_helper.cpp
 	DEPENDS
 		df_driver_framework
 		git_ecl
 		ecl_geo
-		health_flags
 	)
diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index e91c20c35a..11bbacfdcb 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -55,7 +55,6 @@
 #include <parameters/param.h>
 #include <systemlib/rc_check.h>
 #include <systemlib/mavlink_log.h>
-#include <lib/health_flags/health_flags.h>
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mag.h>
@@ -73,6 +72,7 @@
 #include <uORB/topics/subsystem_info.h>
 
 #include "PreflightCheck.h"
+#include "health_flag_helper.h"
 
 #include "DevMgr.hpp"
 
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 9b3fea4d2f..484774d0b3 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -58,13 +58,13 @@
 #include "px4_custom_mode.h"
 #include "rc_calibration.h"
 #include "state_machine_helper.h"
+#include "health_flag_helper.h"
 
 /* PX4 headers */
 #include <dataman/dataman.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_tone_alarm.h>
 #include <lib/ecl/geo/geo.h>
-#include <lib/health_flags/health_flags.h>
 #include <mathlib/mathlib.h>
 #include <navigator/navigation.h>
 #include <px4_config.h>
diff --git a/src/lib/health_flags/health_flags.cpp b/src/modules/commander/health_flag_helper.cpp
similarity index 98%
rename from src/lib/health_flags/health_flags.cpp
rename to src/modules/commander/health_flag_helper.cpp
index c57662a10d..d021a3d8ca 100644
--- a/src/lib/health_flags/health_flags.cpp
+++ b/src/modules/commander/health_flag_helper.cpp
@@ -32,14 +32,14 @@
  ****************************************************************************/
 
 /**
- * @file health_flags.cpp
+ * @file health_flag_helper.cpp
  *
  * Contains helper functions to efficiently set the system health flags from commander and preflight check.
  *
  * @author Philipp Oettershagen (philipp.oettershagen@mavt.ethz.ch)
  */
 
-#include "health_flags.h"
+#include "health_flag_helper.h"
 
 void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status)
 {
diff --git a/src/lib/health_flags/health_flags.h b/src/modules/commander/health_flag_helper.h
similarity index 98%
rename from src/lib/health_flags/health_flags.h
rename to src/modules/commander/health_flag_helper.h
index 2aa5eb7908..70bc1883ac 100644
--- a/src/lib/health_flags/health_flags.h
+++ b/src/modules/commander/health_flag_helper.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file health_flags.h
+ * @file health_flag_helper.h
  *
  * Contains helper functions to efficiently set the system health flags from commander and preflight check.
  *
diff --git a/src/modules/sensors/CMakeLists.txt b/src/modules/sensors/CMakeLists.txt
index f793069b8c..9cd9956916 100644
--- a/src/modules/sensors/CMakeLists.txt
+++ b/src/modules/sensors/CMakeLists.txt
@@ -51,5 +51,4 @@ px4_add_module(
 		drivers__device
 		git_ecl
 		ecl_validation
-		health_flags
 	)
diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index b241542ff9..0345e89b33 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -920,17 +920,17 @@ bool VotedSensorsUpdate::check_failover(SensorData &sensor, const char *sensor_n
 				// reduce priority of failed sensor to the minimum
 				sensor.priority[failover_index] = 1;
 
-				// Update the subsystem_info uORB given that a sensor failed
+				PX4_ERR("Sensor %s #%i failed. Reconfiguring sensor priorities.", sensor_name, failover_index);
+
 				int ctr_valid = 0;
 
 				for (uint8_t i = 0; i < sensor.subscription_count; i++) {
 					if (sensor.priority[i] > 1) { ctr_valid++; }
 
-					PX4_WARN("FAILOVER event (idx=%u)! Sensor %s: Nr. %u Priority: %u", failover_index, sensor_name, i, sensor.priority[i]);
+					PX4_WARN("Remaining sensors after failover event %u: %s #%u priority: %u", failover_index, sensor_name, i,
+						 sensor.priority[i]);
 				}
 
-				PX4_ERR("%s sensor switch from #%i", sensor_name, failover_index);
-
 				if (ctr_valid < 2) {
 					if (ctr_valid == 0) {
 						// Zero valid sensors remain! Set even the primary sensor health to false