diff --git a/AntennaTracker/GCS_Tracker.cpp b/AntennaTracker/GCS_Tracker.cpp
index 4447c88cdd..db713aed84 100644
--- a/AntennaTracker/GCS_Tracker.cpp
+++ b/AntennaTracker/GCS_Tracker.cpp
@@ -36,3 +36,76 @@ void GCS_Tracker::request_datastream_airpressure(const uint8_t sysid, const uint
         }
     }
 }
+
+// update sensors and subsystems present, enabled and healthy flags for reporting to GCS
+void GCS_Tracker::update_sensor_status_flags()
+{
+    // default sensors present
+    control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
+
+    // first what sensors/controllers we have
+    if (tracker.g.compass_enabled) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;  // compass present
+    }
+    const AP_GPS &gps = AP::gps();
+    if (gps.status() > AP_GPS::NO_GPS) {
+        control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
+    }
+    const AP_Logger &logger = AP::logger();
+    if (logger.logging_present()) {  // primary logging only (usually File)
+        control_sensors_present |= MAV_SYS_STATUS_LOGGING;
+    }
+
+    // all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
+    control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_LOGGING &
+                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
+                                                         ~MAV_SYS_STATUS_SENSOR_BATTERY);
+
+    if (logger.logging_enabled()) {
+        control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
+    }
+
+    // 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;
+    }
+
+    const AP_BattMonitor &battery = AP::battery();
+    if (battery.num_instances() > 0) {
+        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
+    }
+
+    AP_AHRS &ahrs = AP::ahrs();
+
+    // default to all healthy except compass and gps which we set individually
+    control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
+    const Compass &compass = AP::compass();
+    if (tracker.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
+    }
+    if (gps.is_healthy()) {
+        control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
+    }
+    const AP_InertialSensor &ins = AP::ins();
+    if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
+    }
+    if (!ins.get_accel_health_all()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
+    }
+    if (ahrs.initialised() && !ahrs.healthy()) {
+        // AHRS subsystem is unhealthy
+        control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
+    }
+    if (logger.logging_failed()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
+    }
+    if (!battery.healthy() || battery.has_failsafed()) {
+        control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
+    }
+    if (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);
+    }
+}
diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
index d2cb395fdb..6d5d51b8f2 100644
--- a/AntennaTracker/sensors.cpp
+++ b/AntennaTracker/sensors.cpp
@@ -89,76 +89,3 @@ void Tracker::handle_battery_failsafe(const char* type_str, const int8_t action)
     // useful failsafes in the future would include actually recalling the vehicle
     // that is tracked before the tracker loses power to continue tracking it
 }
-
-// update sensors and subsystems present, enabled and healthy flags for reporting to GCS
-void GCS_Tracker::update_sensor_status_flags()
-{
-    // default sensors present
-    control_sensors_present = MAVLINK_SENSOR_PRESENT_DEFAULT;
-
-    // first what sensors/controllers we have
-    if (tracker.g.compass_enabled) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;  // compass present
-    }
-    const AP_GPS &gps = AP::gps();
-    if (gps.status() > AP_GPS::NO_GPS) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
-    }
-    const AP_Logger &logger = AP::logger();
-    if (logger.logging_present()) {  // primary logging only (usually File)
-        control_sensors_present |= MAV_SYS_STATUS_LOGGING;
-    }
-
-    // all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
-    control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_LOGGING &
-                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
-                                                         ~MAV_SYS_STATUS_SENSOR_BATTERY);
-
-    if (logger.logging_enabled()) {
-        control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
-    }
-
-    // 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;
-    }
-
-    const AP_BattMonitor &battery = AP::battery();
-    if (battery.num_instances() > 0) {
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
-    }
-
-    AP_AHRS &ahrs = AP::ahrs();
-
-    // default to all healthy except compass and gps which we set individually
-    control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS);
-    const Compass &compass = AP::compass();
-    if (tracker.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
-    }
-    if (gps.is_healthy()) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
-    }
-    const AP_InertialSensor &ins = AP::ins();
-    if (!ins.get_gyro_health_all() || !ins.gyro_calibrated_ok_all()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_GYRO;
-    }
-    if (!ins.get_accel_health_all()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_SENSOR_3D_ACCEL;
-    }
-    if (ahrs.initialised() && !ahrs.healthy()) {
-        // AHRS subsystem is unhealthy
-        control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
-    }
-    if (logger.logging_failed()) {
-        control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
-    }
-    if (!battery.healthy() || battery.has_failsafed()) {
-        control_sensors_enabled &= ~MAV_SYS_STATUS_SENSOR_BATTERY;
-    }
-    if (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);
-    }
-}