diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 6f00211323..f530b7092b 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -225,8 +225,11 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
     }
-    if (!ins.healthy()) {
-        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+    if (!ins.get_gyro_health_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 (airspeed.healthy()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;