Erroneous warning "kill switch engaged" during flight in mission mode (with no consequences)

I encountered a wrong warning message “kill switch engaged” during flight in mission mode with my duo tailsitter (pixhawk 4, FW V1.11.3):

Fortunately the kill switch was not engaged, so nothing fatal happened, the vehicle just kept flying normally. What could be the reason for that false message? Any hints are welcome, thank you very much in advance!

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