diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index b27dfbd1cd..7ecbccf57b 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -210,18 +210,27 @@ void GCS::update_sensor_status_flags()
     }
 #endif
 
-#if !defined(HAL_BUILD_AP_PERIPH) || (defined(HAL_LOGGING_ENABLED) && (HAL_LOGGING_ENABLED == 1) && defined(HAL_PERIPH_ENABLE_GPS))
+#if HAL_LOGGING_ENABLED
     const AP_Logger &logger = AP::logger();
-    if (logger.logging_present() || gps.logging_present()) {  // primary logging only (usually File)
+    bool logging_present = logger.logging_present();
+    bool logging_enabled = logger.logging_enabled();
+    bool logging_healthy = !logger.logging_failed();
+#if !defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_GPS)
+    // some GPS units do logging, so they have to be healthy too:
+    logging_present |= gps.logging_present();
+    logging_enabled |= gps.logging_enabled();
+    logging_healthy &= !gps.logging_failed();
+#endif
+    if (logging_present) {
         control_sensors_present |= MAV_SYS_STATUS_LOGGING;
     }
-    if (logger.logging_enabled() || gps.logging_enabled()) {
+    if (logging_enabled) {
         control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
     }
-    if (!logger.logging_failed() && !gps.logging_failed()) {
+    if (logging_healthy) {
         control_sensors_health |= MAV_SYS_STATUS_LOGGING;
     }
-#endif
+#endif  // HAL_LOGGING_ENABLED
 
     // set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
 #if !defined(HAL_BUILD_AP_PERIPH)