diff --git a/AntennaTracker/AntennaTracker.pde b/AntennaTracker/AntennaTracker.pde
index ea9a5de33e..2790523aef 100644
--- a/AntennaTracker/AntennaTracker.pde
+++ b/AntennaTracker/AntennaTracker.pde
@@ -102,20 +102,6 @@ static AP_Scheduler scheduler;
 // notification object for LEDs, buzzers etc
 static AP_Notify notify;
 
-// tracking status for MAVLink
-static struct {
-    float bearing;                  // bearing to vehicle in centi-degrees
-    float distance;                 // distance to vehicle in meters
-    float pitch;                    // pitch to vehicle in degrees (positive means vehicle is above tracker, negative means below)
-    float altitude_difference;      // altitude difference between tracker and vehicle in meters.  positive value means vehicle is above tracker
-    float altitude_offset;          // offset in meters which is added to tracker altitude to align altitude measurements with vehicle's barometer
-    bool manual_control_yaw         : 1;// true if tracker yaw is under manual control
-    bool manual_control_pitch       : 1;// true if tracker pitch is manually controlled
-    bool need_altitude_calibration  : 1;// true if tracker altitude has not been determined (true after startup)
-    bool scan_reverse_pitch         : 1;// controls direction of pitch movement in SCAN mode
-    bool scan_reverse_yaw           : 1;// controls direction of yaw movement in SCAN mode
-} nav_status;
-
 static uint32_t start_time_ms;
 
 static bool usb_connected;
@@ -235,6 +221,22 @@ static struct {
     float ground_speed;     // vehicle's last known ground speed in m/s
 } vehicle;
 
+////////////////////////////////////////////////////////////////////////////////
+// Navigation controller state
+////////////////////////////////////////////////////////////////////////////////
+static struct {
+    float bearing;                  // bearing to vehicle in centi-degrees
+    float distance;                 // distance to vehicle in meters
+    float pitch;                    // pitch to vehicle in degrees (positive means vehicle is above tracker, negative means below)
+    float altitude_difference;      // altitude difference between tracker and vehicle in meters.  positive value means vehicle is above tracker
+    float altitude_offset;          // offset in meters which is added to tracker altitude to align altitude measurements with vehicle's barometer
+    bool manual_control_yaw         : 1;// true if tracker yaw is under manual control
+    bool manual_control_pitch       : 1;// true if tracker pitch is manually controlled
+    bool need_altitude_calibration  : 1;// true if tracker altitude has not been determined (true after startup)
+    bool scan_reverse_pitch         : 1;// controls direction of pitch movement in SCAN mode
+    bool scan_reverse_yaw           : 1;// controls direction of yaw movement in SCAN mode
+} nav_status;
+
 /*
   scheduler table - all regular tasks apart from the fast_loop()
   should be listed here, along with how often they should be called