diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index f764af63be..c758683c00 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -161,8 +161,10 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
     }
 
-    // all present sensors enabled by default except altitude and position control which we will set individually
-    control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL);
+    // all present sensors enabled by default except altitude and position control and motors which we will set individually
+    control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
+                                                         ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
+                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS);
 
     switch (control_mode) {
     case ALT_HOLD:
@@ -182,6 +184,11 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
         break;
     }
 
+    // set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
+    if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
+    }
+
     // default to all healthy except baro, compass, gps and receiver which we set individually
     control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
                                                          MAV_SYS_STATUS_SENSOR_3D_MAG |