diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 037b135e7e..5a4e1e09cc 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -269,6 +269,7 @@ void Rover::one_second_loop(void)
     AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
     AP_Notify::flags.pre_arm_gps_check = true;
     AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::Required::NO;
+    AP_Notify::flags.flying = hal.util->get_soft_armed();
 
     // cope with changes to mavlink system ID
     mavlink_system.sysid = g.sysid_this_mav;