diff --git a/EKF/control.cpp b/EKF/control.cpp
index 8fc114a045..f3287adc5d 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -184,7 +184,9 @@ void Ekf::controlFusionModes()
 				_control_status.flags.rng_hgt = false;
 				// adjust the height offset so we can use the GPS
 				_hgt_sensor_offset = _state.pos(2) + gps_init.hgt - _gps_alt_ref;
-				printf("EKF baro hgt timeout - switching to gps\n");
+				if (!baro_hgt_available) {
+					printf("EKF baro hgt timeout - switching to gps\n");
+				}
 			}
 		}