diff --git a/Blimp/GCS_Blimp.cpp b/Blimp/GCS_Blimp.cpp
index fce068a77a..ed7c212014 100644
--- a/Blimp/GCS_Blimp.cpp
+++ b/Blimp/GCS_Blimp.cpp
@@ -14,6 +14,7 @@ const char* GCS_Blimp::frame_string() const
 
 void GCS_Blimp::update_vehicle_sensor_status_flags(void)
 {
+    // mode-specific flags:
     control_sensors_present |=
         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
@@ -29,18 +30,16 @@ void GCS_Blimp::update_vehicle_sensor_status_flags(void)
         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
 
+    control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
+    control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
+
     const Blimp::ap_t &ap = blimp.ap;
 
     if (ap.rc_receiver_present) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
     }
-
-    control_sensors_present |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
-    control_sensors_present |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL;
-
     if (ap.rc_receiver_present && !blimp.failsafe.radio) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
     }
-
 }