From b41f4898e0fbc34dd5ef441c2f65eed4966918aa Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 30 Oct 2013 09:02:24 +1100
Subject: [PATCH] Copter: report INS health

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

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 7f45e55820..26edf454d7 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -194,6 +194,9 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
     if (ap.rc_receiver_present && !failsafe.radio) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
     }
+    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;