From 3b0a308ed2fa2f944eca1a570f440b64893b8aab Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 2 Oct 2014 13:44:02 +0900
Subject: [PATCH] Copter: only report ahrs unhealthy after initialisation

---
 ArduCopter/GCS_Mavlink.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 6dc344785d..01ac407a57 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -206,7 +206,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
         control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
     }
 
-    if (!ahrs.healthy()) {
+    if (ahrs.initialised() && !ahrs.healthy()) {
         // AHRS subsystem is unhealthy
         control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
     }