diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index e53490fe72..0895316139 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -193,9 +193,12 @@ NOINLINE void Sub::send_extended_status1(mavlink_channel_t chan)
                                                          MAV_SYS_STATUS_SENSOR_3D_MAG |
                                                          MAV_SYS_STATUS_SENSOR_GPS |
                                                          MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
-    if (barometer.all_healthy()) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
-    }
+
+	if (ap.depth_sensor_present && barometer.all_healthy()) { // check all barometers
+		control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
+	} else if (barometer.healthy(0)) { // check the internal barometer only
+		control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
+	}
     if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }