diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 25dd47b942..313d76d6e5 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -245,6 +245,12 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
     }
 #endif
 
+    if (!ap.initialised) {
+        // 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,