diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 81072baae2..2c4f26510e 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -182,6 +182,12 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
         battery_current = battery.current_amps() * 100;
     }
 
+    if (AP_Notify::flags.initialising) {
+        // while initialising the gyros and accels are not enabled
+        control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+        control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
+    }
+
     mavlink_msg_sys_status_send(
         chan,
         control_sensors_present,