diff --git a/ArduCopter/GCS_Copter.cpp b/ArduCopter/GCS_Copter.cpp
index 67b49e7cb2..e5ac383df2 100644
--- a/ArduCopter/GCS_Copter.cpp
+++ b/ArduCopter/GCS_Copter.cpp
@@ -42,39 +42,22 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
 
-    // update flightmode-specific flags:
-    control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
-    control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
+    // Update position controller flags
+    if (copter.pos_control != nullptr) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
 
-    switch (copter.flightmode->mode_number()) {
-    case Mode::Number::AUTO:
-    case Mode::Number::AUTO_RTL:
-    case Mode::Number::AVOID_ADSB:
-    case Mode::Number::GUIDED:
-    case Mode::Number::LOITER:
-    case Mode::Number::RTL:
-    case Mode::Number::CIRCLE:
-    case Mode::Number::LAND:
-    case Mode::Number::POSHOLD:
-    case Mode::Number::BRAKE:
-    case Mode::Number::THROW:
-    case Mode::Number::SMART_RTL:
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
-        break;
-    case Mode::Number::ALT_HOLD:
-    case Mode::Number::GUIDED_NOGPS:
-    case Mode::Number::SPORT:
-    case Mode::Number::AUTOTUNE:
-    case Mode::Number::FLOWHOLD:
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
-        break;
-    default:
-        // stabilize, acro, drift, and flip have no automatic x,y or z control (i.e. all manual)
-        break;
+        // XY position controller
+        if (copter.pos_control->is_active_xy()) {
+            control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
+            control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
+        }
+
+        // Z altitude controller
+        if (copter.pos_control->is_active_z()) {
+            control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
+            control_sensors_health |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
+        }
     }
 
     // optional sensors, some of which are essentially always