diff --git a/src/mavsdk/core/mavlink_ftp_client.cpp b/src/mavsdk/core/mavlink_ftp_client.cpp
index fbd738a7c..57f087332 100644
--- a/src/mavsdk/core/mavlink_ftp_client.cpp
+++ b/src/mavsdk/core/mavlink_ftp_client.cpp
@@ -107,13 +107,17 @@ void MavlinkFtpClient::process_mavlink_ftp_message(const mavlink_message_t& msg)
     mavlink_msg_file_transfer_protocol_decode(&msg, &ftp_req);
 
     if (ftp_req.target_system != 0 && ftp_req.target_system != _system_impl.get_own_system_id()) {
-        LogWarn() << "Received FTP with wrong target system ID!";
+        if (_debugging) {
+            LogDebug() << "Received FTP message with wrong target system ID";
+        }
         return;
     }
 
     if (ftp_req.target_component != 0 &&
         ftp_req.target_component != _system_impl.get_own_component_id()) {
-        LogWarn() << "Received FTP with wrong target component ID!";
+        if (_debugging) {
+            LogDebug() << "Received FTP message with wrong target component ID";
+        }
         return;
     }
 
diff --git a/src/mavsdk/core/mavlink_ftp_server.cpp b/src/mavsdk/core/mavlink_ftp_server.cpp
index cd236a201..c48d00bb2 100644
--- a/src/mavsdk/core/mavlink_ftp_server.cpp
+++ b/src/mavsdk/core/mavlink_ftp_server.cpp
@@ -45,13 +45,17 @@ void MavlinkFtpServer::process_mavlink_ftp_message(const mavlink_message_t& msg)
 
     if (ftp_req.target_system != 0 &&
         ftp_req.target_system != _server_component_impl.get_own_system_id()) {
-        LogWarn() << "wrong sysid!";
+        if (_debugging) {
+            LogDebug() << "Received FTP message with wrong target system ID";
+        }
         return;
     }
 
     if (ftp_req.target_component != 0 &&
         ftp_req.target_component != _server_component_impl.get_own_component_id()) {
-        LogWarn() << "wrong compid!";
+        if (_debugging) {
+            LogDebug() << "Received FTP message with wrong target component ID";
+        }
         return;
     }