diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 56994007c9..08e696d9e1 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -410,6 +410,13 @@ void AP_AHRS::update_DCM(bool skip_ins_update)
     _dcm_attitude = {roll, pitch, yaw};
 }
 
+void AP_AHRS::update_notify_from_filter_status(const nav_filter_status &status)
+{
+    AP_Notify::flags.gps_fusion = status.flags.using_gps; // Drives AP_Notify flag for usable GPS.
+    AP_Notify::flags.gps_glitching = status.flags.gps_glitching;
+    AP_Notify::flags.have_pos_abs = status.flags.horiz_pos_abs;
+}
+
 #if HAL_NAVEKF2_AVAILABLE
 void AP_AHRS::update_EKF2(void)
 {
@@ -482,9 +489,7 @@ void AP_AHRS::update_EKF2(void)
             _accel_ef_ekf_blended = _accel_ef_ekf[primary_imu>=0?primary_imu:_ins.get_primary_accel()];
             nav_filter_status filt_state;
             EKF2.getFilterStatus(-1,filt_state);
-            AP_Notify::flags.gps_fusion = filt_state.flags.using_gps; // Drives AP_Notify flag for usable GPS.
-            AP_Notify::flags.gps_glitching = filt_state.flags.gps_glitching;
-            AP_Notify::flags.have_pos_abs = filt_state.flags.horiz_pos_abs;
+            update_notify_from_filter_status(filt_state);
         }
     }
 }
@@ -563,9 +568,7 @@ void AP_AHRS::update_EKF3(void)
             _accel_ef_ekf_blended = _accel_ef_ekf[_ins.get_primary_accel()];
             nav_filter_status filt_state;
             EKF3.getFilterStatus(-1,filt_state);
-            AP_Notify::flags.gps_fusion = filt_state.flags.using_gps; // Drives AP_Notify flag for usable GPS.
-            AP_Notify::flags.gps_glitching = filt_state.flags.gps_glitching;
-            AP_Notify::flags.have_pos_abs = filt_state.flags.horiz_pos_abs;
+            update_notify_from_filter_status(filt_state);
         }
     }
 }
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 87fdc0f207..c55628ff4e 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -618,6 +618,9 @@ private:
      */
     bool fly_forward; // true if we can assume the vehicle will be flying forward on its X axis
 
+    // poke AP_Notify based on values from status
+    void update_notify_from_filter_status(const nav_filter_status &status);
+
 #if HAL_NMEA_OUTPUT_ENABLED
     class AP_NMEA_Output* _nmea_out;
 #endif