diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index df2d6f5c07..c7d1c10d05 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -314,6 +314,8 @@ Navigator::task_main()
 	fds[0].fd = _global_pos_sub;
 	fds[0].events = POLLIN;
 
+	bool global_pos_available_once = false;
+
 	while (!_task_should_exit) {
 
 		/* wait for up to 200ms for data */
@@ -321,7 +323,9 @@ Navigator::task_main()
 
 		if (pret == 0) {
 			/* timed out - periodic check for _task_should_exit, etc. */
-			PX4_WARN("navigator timed out");
+			if (global_pos_available_once) {
+				PX4_WARN("navigator timed out");
+			}
 			continue;
 
 		} else if (pret < 0) {
@@ -330,6 +334,8 @@ Navigator::task_main()
 			continue;
 		}
 
+		global_pos_available_once = true;
+
 		perf_begin(_loop_perf);
 
 		if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {