diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 5f6b5f72ab..09430c731b 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -136,10 +136,12 @@ void GCS::update_sensor_status_flags()
     const AP_InertialSensor &ins = AP::ins();
 
     control_sensors_present |= MAV_SYS_STATUS_AHRS;
-    control_sensors_enabled |= MAV_SYS_STATUS_AHRS;
-    if (!ahrs.initialised() || ahrs.healthy()) {
-        if (!ahrs.have_inertial_nav() || ins.accel_calibrated_ok_all()) {
-            control_sensors_health |= MAV_SYS_STATUS_AHRS;
+    if (ahrs.initialised()) {
+        control_sensors_enabled |= MAV_SYS_STATUS_AHRS;
+        if (ahrs.healthy()) {
+            if (!ahrs.have_inertial_nav() || ins.accel_calibrated_ok_all()) {
+                control_sensors_health |= MAV_SYS_STATUS_AHRS;
+            }
         }
     }