diff --git a/src/main/fc/fc_msp_box.c b/src/main/fc/fc_msp_box.c
index 79704a7aa9..78e3131156 100644
--- a/src/main/fc/fc_msp_box.c
+++ b/src/main/fc/fc_msp_box.c
@@ -182,11 +182,14 @@ void initActiveBoxIds(void)
         activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
     }
 
-    // if ((feature(FEATURE_GPS) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) || 
-        // ((1) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC)) || 
-        // (STATE(FIXED_WING) && sensors(SENSOR_ACC) && feature(FEATURE_GPS))) {
-    if (sensors(SENSOR_ACC)) {
+    const bool navReadyQuads = !STATE(FIXED_WING) && sensors(SENSOR_MAG) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
+    const bool navReadyPlanes = STATE(FIXED_WING) && sensors(SENSOR_ACC) && feature(FEATURE_GPS);
+    const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
+    if (navFlowDeadReckoning || navReadyQuads || navReadyPlanes) {
         activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
+    }
+
+    if (navReadyQuads || navReadyPlanes) {
         activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
         activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
         activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
@@ -329,7 +332,7 @@ uint16_t packSensorStatus(void)
             IS_ENABLED(sensors(SENSOR_MAG))     << 2 |
             IS_ENABLED(sensors(SENSOR_GPS))     << 3 |
             IS_ENABLED(sensors(SENSOR_RANGEFINDER))   << 4 |
-            //IS_ENABLED(sensors(SENSOR_OPFLOW))  << 5 |
+            IS_ENABLED(sensors(SENSOR_OPFLOW))  << 5 |
             IS_ENABLED(sensors(SENSOR_PITOT))   << 6;
 
     // Hardware failure indication bit