diff --git a/NAV_Algorithms/data_structures.h b/NAV_Algorithms/data_structures.h
index 80bdb24..fd143c7 100644
--- a/NAV_Algorithms/data_structures.h
+++ b/NAV_Algorithms/data_structures.h
@@ -90,7 +90,7 @@ typedef struct
   float integrator_vario;
   float3vector wind;
   float3vector wind_average;
-  uint32_t circle_mode;
+  uint32_t flight_mode;
   quaternion<float> q;
   eulerangle<float> euler;
   float effective_vertical_acceleration;
diff --git a/NAV_Algorithms/navigator.cpp b/NAV_Algorithms/navigator.cpp
index 39e0eed..cf7ae6f 100644
--- a/NAV_Algorithms/navigator.cpp
+++ b/NAV_Algorithms/navigator.cpp
@@ -143,7 +143,11 @@ void navigator_t::report_data( output_data_t &d)
     d.effective_vertical_acceleration
 				= variometer.get_effective_vertical_acceleration();
 
-    d.circle_mode 		= ahrs.get_circling_state();
+    if( airborne_detector.is_airborne())
+      d.flight_mode 		= ahrs.get_circling_state();
+    else
+      d.flight_mode		= 3; // = ON_GROUND
+
     d.turn_rate			= ahrs.get_turn_rate();
     d.slip_angle		= ahrs.getSlipAngle();
     d.pitch_angle		= ahrs.getPitchAngle();
diff --git a/Output_Formatter/CAN_output.cpp b/Output_Formatter/CAN_output.cpp
index 7213072..8226615 100644
--- a/Output_Formatter/CAN_output.cpp
+++ b/Output_Formatter/CAN_output.cpp
@@ -44,6 +44,7 @@ enum CAN_ID_SENSOR
   CAN_Id_SlipPitch	= 0x128,    //!< float slip angle from body-acc, float pitch angle from body-acc
   CAN_Id_Voltage_Circle	= 0x129,    //!< float supply voltage, uint8_t circle-mode
   CAN_Id_SystemState    = 0x12a,    //!< u32 system_state, u32 git_tag dec
+  CAN_Id_Sensor_Health	= 0x12b,    //!< float magnetic disturbance
 
   CAN_Id_GPS_Date_Time	= 0x140,    //!< uint8_t year-2000, month, day, hour, mins, secs
   CAN_Id_GPS_Lat	= 0x141,    //!< double latitude
@@ -121,7 +122,12 @@ void CAN_output ( const output_data_t &x, bool horizon_activated)
   p.id=CAN_Id_Voltage_Circle;
   p.dlc=5;
   p.data_f[0] = x.m.supply_voltage;
-  p.data_b[4] = (uint8_t)(x.circle_mode);
+  p.data_b[4] = (uint8_t)(x.flight_mode);
+  CAN_send(p, 1);
+
+  p.id=CAN_Id_Sensor_Health;
+  p.dlc=4;
+  p.data_f[0] = x.magnetic_disturbance;
   CAN_send(p, 1);
 
   p.id=CAN_Id_GPS_Date_Time;
diff --git a/Output_Formatter/CAN_output.h b/Output_Formatter/CAN_output.h
index 0b698f1..9520888 100644
--- a/Output_Formatter/CAN_output.h
+++ b/Output_Formatter/CAN_output.h
@@ -58,6 +58,7 @@
 #define  CMD_MEASURE_LEVEL			0x3002
 #define  CMD_CALCULATE				0x3003
 #define  CMD_TUNE				0x3004
+#define  CMD_RESET_SENSOR			0x3005
 
 void CAN_output ( const output_data_t &x, bool horizon_activated);
 void CAN_heartbeat( void);
diff --git a/Output_Formatter/system_state.h b/Output_Formatter/system_state.h
index 16e4f7d..99697a6 100644
--- a/Output_Formatter/system_state.h
+++ b/Output_Formatter/system_state.h
@@ -24,7 +24,9 @@ enum availability_bits
 	USB_OUTPUT_ACTIVE	= 0x1000,
 	BLUEZ_OUTPUT_ACTIVE	= 0x2000,
 	CAN_OUTPUT_ACTIVE	= 0x4000,
-	USART_2_OUTPUT_ACTIVE	= 0x8000
+	USART_2_OUTPUT_ACTIVE	= 0x8000,
+
+	HORIZON_NOT_AVAILABLE	= 0x10000
 };
 
 extern uint32_t system_state; //!< bits collected from availability_bits