diff --git a/flight/modules/StateEstimation/filterekf.c b/flight/modules/StateEstimation/filterekf.c
index 43a139053..8a3103e9c 100644
--- a/flight/modules/StateEstimation/filterekf.c
+++ b/flight/modules/StateEstimation/filterekf.c
@@ -202,6 +202,7 @@ static filterResult filter(stateFilter *self, stateEstimation *state)
     float dT;
     uint16_t sensors = 0;
 
+    INSSetArmed(state->armed);
 
     this->work.updated |= state->updated;
     // check magnetometer alarm, discard any magnetometer readings if not OK
diff --git a/flight/modules/StateEstimation/inc/stateestimation.h b/flight/modules/StateEstimation/inc/stateestimation.h
index 38d21e599..c34ba9140 100644
--- a/flight/modules/StateEstimation/inc/stateestimation.h
+++ b/flight/modules/StateEstimation/inc/stateestimation.h
@@ -70,8 +70,9 @@ typedef struct {
     float   airspeed[2];
     float   baro[1];
     float   auxMag[3];
-    uint8_t magStatus;
     float   boardMag[3];
+    uint8_t magStatus;
+    bool    armed;
     sensorUpdates updated;
 } stateEstimation;
 
diff --git a/flight/modules/StateEstimation/stateestimation.c b/flight/modules/StateEstimation/stateestimation.c
index 72d28fb00..5a08cf8cc 100644
--- a/flight/modules/StateEstimation/stateestimation.c
+++ b/flight/modules/StateEstimation/stateestimation.c
@@ -355,7 +355,6 @@ static void StateEstimationCb(void)
     static stateEstimation states;
     static uint32_t last_time;
     static uint16_t bootDelay = 64;
-
     // after system startup, first few sensor readings might be messed up, delay until everything has settled
     if (bootDelay) {
         bootDelay--;
@@ -373,12 +372,13 @@ static void StateEstimationCb(void)
     } else {
         last_time = PIOS_DELAY_GetRaw();
     }
+    FlightStatusArmedOptions fsarmed;
+    FlightStatusArmedGet(&fsarmed);
+    states.armed = fsarmed != FLIGHTSTATUS_ARMED_DISARMED;
 
     // check if a new filter chain should be initialized
     if (fusionAlgorithm != revoSettings.FusionAlgorithm) {
-        FlightStatusData fs;
-        FlightStatusGet(&fs);
-        if (fs.Armed == FLIGHTSTATUS_ARMED_DISARMED || fusionAlgorithm == FILTER_INIT_FORCE) {
+        if (fsarmed == FLIGHTSTATUS_ARMED_DISARMED || fusionAlgorithm == FILTER_INIT_FORCE) {
             const filterPipeline *newFilterChain;
             switch ((RevoSettingsFusionAlgorithmOptions)revoSettings.FusionAlgorithm) {
             case REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY: