diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index de055e3eb9..5fdddb9aed 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -153,6 +153,13 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
     // at the moment all sensors/controllers are assumed healthy
     control_sensors_health = control_sensors_present;
 
+    if (!compass.healthy) {
+        control_sensors_health &= ~(1<<2); // compass
+    }
+    if (!compass.use_for_yaw()) {
+        control_sensors_enabled &= ~(1<<2); // compass
+    }
+
     uint16_t battery_current = -1;
     uint8_t battery_remaining = -1;
 
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 53489ad0ed..8ddb8c4c67 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -190,6 +190,13 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
     // at the moment all sensors/controllers are assumed healthy
     control_sensors_health = control_sensors_present;
 
+    if (!compass.healthy) {
+        control_sensors_health &= ~(1<<2); // compass
+    }
+    if (!compass.use_for_yaw()) {
+        control_sensors_enabled &= ~(1<<2); // compass
+    }
+
     uint16_t battery_current = -1;
     uint8_t battery_remaining = -1;