diff --git a/Rover/GCS_Rover.cpp b/Rover/GCS_Rover.cpp
index 60c9215a25..9ad82f7e32 100644
--- a/Rover/GCS_Rover.cpp
+++ b/Rover/GCS_Rover.cpp
@@ -27,15 +27,7 @@ bool GCS_Rover::supersimple_input_active() const
 
 void GCS_Rover::update_vehicle_sensor_status_flags(void)
 {
-    // first what sensors/controllers we have
-#if HAL_PROXIMITY_ENABLED
-    const AP_Proximity *proximity = AP_Proximity::get_singleton();
-    if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
-    }
-#endif
-
+    // mode-specific:
     control_sensors_present |=
         MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL |
         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
@@ -55,6 +47,17 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
     }
 
+#if HAL_PROXIMITY_ENABLED
+    const AP_Proximity *proximity = AP_Proximity::get_singleton();
+    if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+    }
+    if (proximity && proximity->get_status() != AP_Proximity::Status::NoData) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
+    }
+#endif
+
     const RangeFinder *rangefinder = RangeFinder::get_singleton();
     if (rangefinder && rangefinder->num_sensors() > 0) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@@ -64,10 +67,4 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         }
     }
-
-#if HAL_PROXIMITY_ENABLED
-    if (proximity && proximity->get_status() != AP_Proximity::Status::NoData) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
-    }
-#endif
 }