From 9748e72b3e18f0a2adbc10242acc76a0c49d310a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 30 Oct 2013 09:02:16 +1100
Subject: [PATCH] Rover: report INS health

---
 APMrover2/GCS_Mavlink.pde | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 829df42ffa..4c2a5e1aac 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -161,6 +161,9 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
     if (g_gps != NULL && g_gps->status() > GPS::NO_GPS) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
     }
+    if (!ins.healthy()) {
+        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+    }
 
     int16_t battery_current = -1;
     int8_t battery_remaining = -1;