diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index f810062dfe..63e0d97fbf 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -207,6 +207,11 @@ void Rover::send_extended_status1(mavlink_channel_t chan)
         0, // comm drops in pkts,
         0, 0, 0, 0);
 
+#if FRSKY_TELEM_ENABLED == ENABLED
+    // give mask of error flags to Frsky_Telemetry
+    uint32_t sensors_error_flags = (control_sensors_health ^ control_sensors_enabled) & control_sensors_present;
+    frsky_telemetry.update_sensor_status_flags(sensors_error_flags);
+#endif    
 }
 
 void Rover::send_location(mavlink_channel_t chan)
diff --git a/APMrover2/make.inc b/APMrover2/make.inc
index a742dec9a8..8feecd24b9 100644
--- a/APMrover2/make.inc
+++ b/APMrover2/make.inc
@@ -38,7 +38,6 @@ LIBRARIES += AP_Navigation
 LIBRARIES += APM_Control
 LIBRARIES += AP_L1_Control
 LIBRARIES += AP_BoardConfig
-LIBRARIES += AP_InertialNav
 LIBRARIES += AP_Frsky_Telem
 LIBRARIES += AP_Notify
 LIBRARIES += AP_BattMonitor
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index 702065e166..b881804d55 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -129,7 +129,7 @@ void Rover::init_ardupilot()
 
     // setup frsky telemetry
 #if FRSKY_TELEM_ENABLED == ENABLED
-    frsky_telemetry.init(serial_manager, (uint8_t *)&control_mode);
+    frsky_telemetry.init(serial_manager);
 #endif
 
     mavlink_system.sysid = g.sysid_this_mav;
@@ -277,6 +277,10 @@ void Rover::set_mode(enum mode mode)
     throttle = 500;
     g.pidSpeedThrottle.reset_I();
 
+#if FRSKY_TELEM_ENABLED == ENABLED
+    frsky_telemetry.update_control_mode(control_mode);
+#endif
+    
     if (control_mode != AUTO) {
         auto_triggered = false;
     }
diff --git a/APMrover2/wscript b/APMrover2/wscript
index 93192aa203..e63f470672 100644
--- a/APMrover2/wscript
+++ b/APMrover2/wscript
@@ -10,7 +10,6 @@ def build(bld):
             'APM_Control',
             'AP_Arming',
             'AP_Camera',
-            'AP_InertialNav',
             'AP_Frsky_Telem',
             'AP_L1_Control',
             'AP_Menu',