diff --git a/.github/workflows/clang-tidy.yml b/.github/workflows/clang-tidy.yml
index 9bb584a0b2..b373c59765 100644
--- a/.github/workflows/clang-tidy.yml
+++ b/.github/workflows/clang-tidy.yml
@@ -19,7 +19,7 @@ jobs:
       with:
         fetch-depth: 0
 
-    - name: Testing (clang-tidy-quiet)
+    - name: Testing (clang-tidy)
       uses: addnab/docker-run-action@v3
       with:
         image: px4io/px4-dev-clang:2021-09-08
@@ -27,4 +27,4 @@ jobs:
         run: |
           cd /workspace
           git config --global --add safe.directory /workspace
-          make clang-tidy-quiet
+          make clang-tidy
diff --git a/Makefile b/Makefile
index 22e08e039e..7dcacfeb2d 100644
--- a/Makefile
+++ b/Makefile
@@ -468,7 +468,7 @@ python_coverage:
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
+.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix
 .PHONY: cppcheck shellcheck_all validate_module_configs
 
 scan-build:
@@ -494,10 +494,6 @@ clang-tidy: px4_sitl_default-clang
 clang-tidy-fix: px4_sitl_default-clang
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
 
-# modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
-
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
diff --git a/Tools/run-clang-tidy.py b/Tools/run-clang-tidy.py
index 134e284447..4f29868bee 100755
--- a/Tools/run-clang-tidy.py
+++ b/Tools/run-clang-tidy.py
@@ -110,10 +110,11 @@ def run_tidy(args, tmpdir, build_path, queue):
                                      args.extra_arg, args.extra_arg_before)
 
     try:
-      subprocess.check_call(invocation, stdin=None, stdout=open(os.devnull, 'wb'), stderr=subprocess.STDOUT)
+      subprocess.check_call(invocation, stdin=None, stdout=open(os.devnull, 'w'), stderr=open(os.devnull, 'w'))
     except subprocess.CalledProcessError as e:
-      sys.stdout.write(' '.join(invocation) + '\n')
-      subprocess.call(invocation)
+      sys.stdout.write(f'failed on {name} --> {" ".join(invocation)}\n')
+      # Now run again to see the actual output
+      subprocess.call(invocation, stdin=None)
       global tidy_failures
       tidy_failures = tidy_failures + 1