diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 7a887f2db7..bdf88403cb 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -177,10 +177,12 @@ void GCS::update_sensor_status_flags()
 
 #if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BARO)
     const AP_Baro &barometer = AP::baro();
-    control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
-    control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
-    if (barometer.all_healthy()) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
+    if (barometer.num_instances() > 0) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
+        if (barometer.all_healthy()) {
+            control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
+        }
     }
 #endif