From b17c6d33687ef2fc87b767769b67178084574dc0 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 2 Oct 2014 13:45:10 +0900
Subject: [PATCH] Plane: only report ahrs unhealthy after initialisation

---
 ArduPlane/GCS_Mavlink.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 9e27f195a5..3399b963f8 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -215,7 +215,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
                                                          MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
     control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
 
-    if (!ahrs.healthy()) {
+    if (ahrs.initialised() && !ahrs.healthy()) {
         // AHRS subsystem is unhealthy
         control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
     }