diff --git a/Blimp/AP_Arming_Blimp.cpp b/Blimp/AP_Arming_Blimp.cpp
index c39b9c107e..89471e4423 100644
--- a/Blimp/AP_Arming_Blimp.cpp
+++ b/Blimp/AP_Arming_Blimp.cpp
@@ -59,8 +59,8 @@ bool AP_Arming_Blimp::barometer_checks(bool display_failure)
         // Check baro & inav alt are within 1m if EKF is operating in an absolute position mode.
         // Do not check if intending to operate in a ground relative height mode as EKF will output a ground relative height
         // that may differ from the baro height due to baro drift.
-        nav_filter_status filt_status = blimp.inertial_nav.get_filter_status();
-        bool using_baro_ref = (!filt_status.flags.pred_horiz_pos_rel && filt_status.flags.pred_horiz_pos_abs);
+        const auto &ahrs = AP::ahrs();
+        const bool using_baro_ref = !ahrs.has_status(AP_AHRS::Status::PRED_HORIZ_POS_REL) && ahrs.has_status(AP_AHRS::Status::PRED_HORIZ_POS_ABS);
         if (using_baro_ref) {
             if (fabsf(blimp.inertial_nav.get_position_z_up_cm() - blimp.baro_alt) > PREARM_MAX_ALT_DISPARITY_CM) {
                 check_failed(Check::BARO, display_failure, "Altitude disparity");
@@ -195,10 +195,7 @@ bool AP_Arming_Blimp::gps_checks(bool display_failure)
 // check ekf attitude is acceptable
 bool AP_Arming_Blimp::pre_arm_ekf_attitude_check()
 {
-    // get ekf filter status
-    nav_filter_status filt_status = blimp.inertial_nav.get_filter_status();
-
-    return filt_status.flags.attitude;
+    return AP::ahrs().has_status(AP_AHRS::Status::ATTITUDE_VALID);
 }
 
 // performs mandatory gps checks.  returns true if passed
diff --git a/Blimp/events.cpp b/Blimp/events.cpp
index 6abbb0c82a..d91e3dba03 100644
--- a/Blimp/events.cpp
+++ b/Blimp/events.cpp
@@ -161,8 +161,7 @@ void Blimp::do_failsafe_action(Failsafe_Action action, ModeReason reason)
 void Blimp::gpsglitch_check()
 {
     // get filter status
-    nav_filter_status filt_status = inertial_nav.get_filter_status();
-    bool gps_glitching = filt_status.flags.gps_glitching;
+    const bool gps_glitching = AP::ahrs().has_status(AP_AHRS::Status::GPS_GLITCHING);
 
     // log start or stop of gps glitch.  AP_Notify update is handled from within AP_AHRS
     if (ap.gps_glitching != gps_glitching) {
diff --git a/Blimp/inertia.cpp b/Blimp/inertia.cpp
index b46e03978d..c2b69e1207 100644
--- a/Blimp/inertia.cpp
+++ b/Blimp/inertia.cpp
@@ -13,7 +13,7 @@ void Blimp::read_inertia()
     current_loc.lng = loc.lng;
 
     // exit immediately if we do not have an altitude estimate
-    if (!inertial_nav.get_filter_status().flags.vert_pos) {
+    if (!ahrs.has_status(AP_AHRS::Status::VERT_POS)) {
         return;
     }
 
diff --git a/Blimp/system.cpp b/Blimp/system.cpp
index 9c1df237c8..d827498045 100644
--- a/Blimp/system.cpp
+++ b/Blimp/system.cpp
@@ -142,16 +142,21 @@ bool Blimp::ekf_has_absolute_position() const
         return false;
     }
 
-    // with EKF use filter status and ekf check
-    nav_filter_status filt_status = inertial_nav.get_filter_status();
-
     // if disarmed we accept a predicted horizontal position
     if (!motors->armed()) {
-        return ((filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs));
-    } else {
-        // once armed we require a good absolute position and EKF must not be in const_pos_mode
-        return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
+        if (ahrs.has_status(AP_AHRS::Status::HORIZ_POS_ABS)) {
+            return true;
+        }
+        if (ahrs.has_status(AP_AHRS::Status::PRED_HORIZ_POS_ABS)) {
+            return true;
+        }
+        return false;
     }
+    // once armed we require a good absolute position and EKF must not be in const_pos_mode
+    if (ahrs.has_status(AP_AHRS::Status::CONST_POS_MODE)) {
+        return false;
+     }
+    return ahrs.has_status(AP_AHRS::Status::HORIZ_POS_ABS);
 }
 
 // ekf_has_relative_position - returns true if the EKF can provide a position estimate relative to it's starting position
@@ -168,15 +173,14 @@ bool Blimp::ekf_has_relative_position() const
         return false;
     }
 
-    // get filter status from EKF
-    nav_filter_status filt_status = inertial_nav.get_filter_status();
-
     // if disarmed we accept a predicted horizontal relative position
     if (!motors->armed()) {
-        return (filt_status.flags.pred_horiz_pos_rel);
-    } else {
-        return (filt_status.flags.horiz_pos_rel && !filt_status.flags.const_pos_mode);
+        return ahrs.has_status(AP_AHRS::Status::PRED_HORIZ_POS_REL);
     }
+    if (ahrs.has_status(AP_AHRS::Status::CONST_POS_MODE)) {
+        return false;
+    }
+    return ahrs.has_status(AP_AHRS::Status::HORIZ_POS_REL);
 }
 
 // returns true if the ekf has a good altitude estimate (required for modes which do AltHold)
@@ -187,11 +191,15 @@ bool Blimp::ekf_alt_ok() const
         return false;
     }
 
-    // with EKF use filter status and ekf check
-    nav_filter_status filt_status = inertial_nav.get_filter_status();
-
     // require both vertical velocity and position
-    return (filt_status.flags.vert_vel && filt_status.flags.vert_pos);
+    if (!ahrs.has_status(AP_AHRS::Status::VERT_VEL)) {
+        return false;
+    }
+    if (!ahrs.has_status(AP_AHRS::Status::VERT_POS)) {
+        return false;
+    }
+
+    return true;
 }
 
 // update_auto_armed - update status of auto_armed flag