diff --git a/APMrover2/GCS_Rover.cpp b/APMrover2/GCS_Rover.cpp
new file mode 100644
index 0000000000..e77cde926b
--- /dev/null
+++ b/APMrover2/GCS_Rover.cpp
@@ -0,0 +1,124 @@
+#include "GCS_Rover.h"
+
+#include "Rover.h"
+
+#include <AP_RangeFinder/RangeFinder_Backend.h>
+
+// update error mask of sensors and subsystems. The mask
+// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
+// then it indicates that the sensor or subsystem is present but
+// not functioning correctly.
+void GCS_Rover::update_sensor_status_flags(void)
+{
+    // default sensors present
+    control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
+
+    // first what sensors/controllers we have
+    if (rover.g.compass_enabled) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;  // compass present
+    }
+    const AP_GPS &gps = AP::gps();
+    if (gps.status() > AP_GPS::NO_GPS) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
+    }
+    const AP_VisualOdom *visual_odom = AP::visualodom();
+    if (visual_odom && visual_odom->enabled()) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
+    }
+    const AP_Logger &logger = AP::logger();
+    if (logger.logging_present()) {  // primary logging only (usually File)
+        control_sensors_present |= MAV_SYS_STATUS_LOGGING;
+    }
+    const AP_Proximity *proximity = AP_Proximity::get_singleton();
+    if (proximity && proximity->get_status() > AP_Proximity::Proximity_NotConnected) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+    }
+
+    // all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
+    control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL &
+                                                         ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION &
+                                                         ~MAV_SYS_STATUS_SENSOR_YAW_POSITION &
+                                                         ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
+                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
+                                                         ~MAV_SYS_STATUS_LOGGING &
+                                                         ~MAV_SYS_STATUS_SENSOR_BATTERY);
+    if (rover.control_mode->attitude_stabilized()) {
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control
+    }
+    if (rover.control_mode->is_autopilot_mode()) {
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
+    }
+
+    if (logger.logging_enabled()) {
+        control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
+    }
+
+    // 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;
+    }
+
+    const AP_BattMonitor &battery = AP::battery();
+    if (battery.num_instances() > 0) {
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
+    }
+
+    AP_AHRS &ahrs = AP::ahrs();
+    const Compass &compass = AP::compass();
+
+    // default to all healthy except compass and gps which we set individually
+    control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
+    if (rover.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
+    }
+    if (gps.is_healthy()) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
+    }
+    if (visual_odom && visual_odom->enabled() && !visual_odom->healthy()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
+    }
+    const AP_InertialSensor &ins = AP::ins();
+    if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
+    }
+    if (!ins.get_accel_health_all()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
+    }
+
+    if (ahrs.initialised() && !ahrs.healthy()) {
+        // AHRS subsystem is unhealthy
+        control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
+    }
+
+    const RangeFinder *rangefinder = RangeFinder::get_singleton();
+    if (rangefinder && rangefinder->num_sensors() > 0) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+        AP_RangeFinder_Backend *s = rangefinder->get_backend(0);
+        if (s != nullptr && s->has_data()) {
+            control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+        }
+    }
+    if (proximity && proximity->get_status() == AP_Proximity::Proximity_NoData) {
+        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+    }
+    if (logger.logging_failed()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
+    }
+
+    if (!battery.healthy() || battery.has_failsafed()) {
+        control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
+    }
+
+    if (!rover.initialised || ins.calibrating()) {
+        // while initialising the gyros and accels are not enabled
+        control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+    }
+#if FRSKY_TELEM_ENABLED == ENABLED
+    // give mask of error flags to Frsky_Telemetry
+    rover.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
+#endif
+}
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index 07d9453998..56e9bbe2fb 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -237,121 +237,3 @@ void Rover::rpm_update(void)
         }
     }
 }
-// update error mask of sensors and subsystems. The mask
-// uses the MAV_SYS_STATUS_* values from mavlink. If a bit is set
-// then it indicates that the sensor or subsystem is present but
-// not functioning correctly.
-void GCS_Rover::update_sensor_status_flags(void)
-{
-    // default sensors present
-    control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
-
-    // first what sensors/controllers we have
-    if (rover.g.compass_enabled) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;  // compass present
-    }
-    const AP_GPS &gps = AP::gps();
-    if (gps.status() > AP_GPS::NO_GPS) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
-    }
-    const AP_VisualOdom *visual_odom = AP::visualodom();
-    if (visual_odom && visual_odom->enabled()) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
-    }
-    const AP_Logger &logger = AP::logger();
-    if (logger.logging_present()) {  // primary logging only (usually File)
-        control_sensors_present |= MAV_SYS_STATUS_LOGGING;
-    }
-    const AP_Proximity *proximity = AP_Proximity::get_singleton();
-    if (proximity && proximity->get_status() > AP_Proximity::Proximity_NotConnected) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
-    }
-
-    // all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
-    control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL &
-                                                         ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION &
-                                                         ~MAV_SYS_STATUS_SENSOR_YAW_POSITION &
-                                                         ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
-                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
-                                                         ~MAV_SYS_STATUS_LOGGING &
-                                                         ~MAV_SYS_STATUS_SENSOR_BATTERY);
-    if (rover.control_mode->attitude_stabilized()) {
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // 3D angular rate control
-    }
-    if (rover.control_mode->is_autopilot_mode()) {
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
-    }
-
-    if (logger.logging_enabled()) {
-        control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
-    }
-
-    // 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;
-    }
-
-    const AP_BattMonitor &battery = AP::battery();
-    if (battery.num_instances() > 0) {
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
-    }
-
-    AP_AHRS &ahrs = AP::ahrs();
-    const Compass &compass = AP::compass();
-
-    // default to all healthy except compass and gps which we set individually
-    control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
-    if (rover.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
-    }
-    if (gps.is_healthy()) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
-    }
-    if (visual_odom && visual_odom->enabled() && !visual_odom->healthy()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_VISION_POSITION;
-    }
-    const AP_InertialSensor &ins = AP::ins();
-    if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
-    }
-    if (!ins.get_accel_health_all()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
-    }
-
-    if (ahrs.initialised() && !ahrs.healthy()) {
-        // AHRS subsystem is unhealthy
-        control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
-    }
-
-    const RangeFinder *rangefinder = RangeFinder::get_singleton();
-    if (rangefinder && rangefinder->num_sensors() > 0) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
-        AP_RangeFinder_Backend *s = rangefinder->get_backend(0);
-        if (s != nullptr && s->has_data()) {
-            control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
-        }
-    }
-    if (proximity && proximity->get_status() == AP_Proximity::Proximity_NoData) {
-        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_LASER_POSITION;
-    }
-    if (logger.logging_failed()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
-    }
-
-    if (!battery.healthy() || battery.has_failsafed()) {
-        control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
-    }
-
-    if (!rover.initialised || ins.calibrating()) {
-        // while initialising the gyros and accels are not enabled
-        control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
-        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
-    }
-#if FRSKY_TELEM_ENABLED == ENABLED
-    // give mask of error flags to Frsky_Telemetry
-    rover.frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);
-#endif
-}