diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 4cb3050686..fee54dbf3e 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -178,7 +178,6 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     case CRUISE:
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL; // 3D angular rate control
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION; // attitude stabilisation
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS; // motor control
         break;
 
     case TRAINING:
@@ -198,13 +197,17 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_YAW_POSITION; // yaw position
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL; // altitude control
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS; // motor control
         break;
 
     case INITIALISING:
         break;
     }
 
+    // set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
+    if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
+    }
+
     // default: all present sensors healthy except baro, 3D_MAG, GPS, DIFFERNTIAL_PRESSURE.   GEOFENCE always defaults to healthy.
     control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
                                                          MAV_SYS_STATUS_SENSOR_3D_MAG |