diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index ff61ca0f38..c6b3c83a69 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -362,7 +362,7 @@ void Rover::update_sensor_status_flags(void)
         control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
     }
 
-    if (AP_Notify::flags.initialising) {
+    if (!initialised || ins.calibrating()) {
         // 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);