diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.cpp
index 775a004268af1..e8a2f8c319b0c 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.cpp
@@ -74,9 +74,9 @@ bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
 #if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
         const uint32_t now_ms = AP_HAL::millis();
         if (malfunction_alert_prev != malfunction_alert && now_ms - malfunction_alert_last_send_ms >= 1000) {
+            report_malfunction(malfunction_alert, malfunction_alert_prev);
             malfunction_alert_prev = malfunction_alert;
             malfunction_alert_last_send_ms = now_ms;
-            report_malfunction(malfunction_alert);
         }
 #endif
 
@@ -109,18 +109,28 @@ bool AP_RangeFinder_Ainstein_LR_D1::get_reading(float &reading_m)
 }
 
 #if AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
-void AP_RangeFinder_Ainstein_LR_D1::report_malfunction(const uint8_t _malfunction_alert_) {
-    if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::Temperature)) {
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Temperature alert");
-    }
-    if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::Voltage)) {
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Voltage alert");
-    }    
-    if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::IFSignalSaturation)) {
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: IF signal saturation alert");
-    }
-    if (_malfunction_alert_ & static_cast<uint8_t>(MalfunctionAlert::AltitudeReading)) {
-        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: Altitude reading overflow alert");
+void AP_RangeFinder_Ainstein_LR_D1::report_malfunction(const uint8_t _malfunction_alert_, const uint8_t _malfunction_alert_prev_)
+{
+    static const struct {
+        MalfunctionAlert bit;
+        const char *name;
+    } alerts[] {
+        { MalfunctionAlert::Temperature, "Temperature" },
+        { MalfunctionAlert::Voltage, "Voltage" },
+        { MalfunctionAlert::IFSignalSaturation, "IF signal saturation" },
+        { MalfunctionAlert::AltitudeReading, "Attitude reading overflow" },
+    };
+
+    for (const auto &alert : alerts) {
+        if ((_malfunction_alert_ & uint8_t(alert.bit)) == 0) {
+            // alert not current
+            continue;
+        }
+        if ((_malfunction_alert_prev_ & uint8_t(alert.bit)) != 0) {
+            // alert is not new
+            continue;
+        }
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "RangeFinder: %s alert", alert.name);
     }
 }
 #endif // AP_RANGEFINDER_AINSTEIN_LR_D1_SHOW_MALFUNCTIONS
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.h b/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.h
index 3bf2d348c56aa..a0a8120bc4a9b 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Ainstein_LR_D1.h
@@ -46,7 +46,7 @@ class AP_RangeFinder_Ainstein_LR_D1 : public AP_RangeFinder_Backend_Serial
     // quality is not available
     int8_t get_signal_quality_pct() const override { return signal_quality_pct; };
 
-    static void report_malfunction(const uint8_t _malfunction_alert_);
+    static void report_malfunction(const uint8_t _malfunction_alert_, const uint8_t _malfunction_alert_prev_);
 
     enum class MalfunctionAlert : uint8_t {
         Temperature       = (1U << 0),  // 0x01