diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index 6869ad0b14..ac14833a65 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -327,9 +327,21 @@ void AP_BoardConfig::sensor_config_error(const char *reason)
       before this, so the user can change parameters (and in
       particular BRD_TYPE if needed)
     */
+    uint32_t last_print_ms = 0;
+    bool have_gcs = GCS::instance() != nullptr;
     while (true) {
-        printf("Sensor failure: %s\n", reason);
-        gcs().send_text(MAV_SEVERITY_ERROR, "Check BRD_TYPE: %s", reason);
-        hal.scheduler->delay(3000);
+        uint32_t now = AP_HAL::millis();
+        if (now - last_print_ms >= 3000) {
+            last_print_ms = now;
+            printf("Sensor failure: %s\n", reason);
+            if (have_gcs) {
+                gcs().send_text(MAV_SEVERITY_ERROR, "Check BRD_TYPE: %s", reason);
+            }
+        }
+        if (have_gcs) {
+            gcs().update_receive();
+            gcs().update_send();
+        }
+        hal.scheduler->delay(5);
     }
 }