diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 01ac407a57..8350ccf2de 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -199,7 +199,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     if (ap.rc_receiver_present && !failsafe.radio) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
     }
-    if (!ins.get_gyro_health_all()) {
+    if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
         control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
     }
     if (!ins.get_accel_health_all()) {