diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 5602bbe431..48b434a233 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -142,7 +142,8 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
     if (g.compass_enabled) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG; // compass present
     }
-    if (airspeed.enabled() && airspeed.use()) {
+
+    if (airspeed.enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
     }
     if (g_gps != NULL && g_gps->status() > GPS::NO_GPS) {
@@ -152,6 +153,10 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
     // all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
     control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL & ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION & ~MAV_SYS_STATUS_SENSOR_YAW_POSITION & ~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS);
 
+    if (airspeed.enabled() && airspeed.use()) {
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
+    }
+
     switch (control_mode) {
     case MANUAL:
         break;
@@ -197,14 +202,22 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
         break;
     }
 
-    // default to all healthy except compass and gps which we set individually
-    control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
+    // default to all healthy
+    control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_3D_MAG | 
+                                                         MAV_SYS_STATUS_SENSOR_GPS |
+                                                         MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
     if (g.compass_enabled && compass.healthy && ahrs.use_compass()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }
     if (g_gps != NULL && g_gps->status() > GPS::NO_GPS) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
     }
+    if (!ins.healthy()) {
+        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+    }
+    if (airspeed.healthy()) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
+    }
 
     int16_t battery_current = -1;
     int8_t battery_remaining = -1;