diff --git a/main/gen_gdl90.go b/main/gen_gdl90.go
index baeba0ef..0b646e63 100644
--- a/main/gen_gdl90.go
+++ b/main/gen_gdl90.go
@@ -1139,9 +1139,8 @@ type status struct {
 	UAT_OTHER_total                            uint32
 	Errors                                     []string
 	Logfile_Size                               int64
-
-	BMPConnected bool
-	IMUConnected bool
+	BMPConnected                               bool
+	IMUConnected                               bool
 }
 
 var globalSettings settings
diff --git a/main/sensors.go b/main/sensors.go
index 924bae52..f2676654 100644
--- a/main/sensors.go
+++ b/main/sensors.go
@@ -15,7 +15,10 @@ import (
 	"github.com/westphae/goflying/ahrsweb"
 )
 
-const numRetries uint8 = 5
+const (
+	numRetries uint8 = 5
+	invalid float32  = float32(ahrs.Invalid)
+)
 
 var (
 	i2cbus           embd.I2CBus
@@ -117,6 +120,8 @@ func tempAndPressureSender() {
 		mySituation.muBaro.Unlock()
 		altLast = altitude
 	}
+	mySituation.BaroPressureAltitude = 99999
+	mySituation.BaroVerticalSpeed = 99999
 }
 
 func initIMU() (ok bool) {
@@ -245,29 +250,36 @@ func sensorAttitudeSender() {
 			// Run the AHRS calcs
 			s.Compute(m)
 
-			makeAHRSGDL90Report() // Send whether or not valid - the function will invalidate the values as appropriate
-
 			// If we have valid AHRS info, then update mySituation
+			mySituation.muAttitude.Lock()
 			if s.Valid() {
-				mySituation.muAttitude.Lock()
-
 				roll, pitch, heading = s.RollPitchHeading()
 				mySituation.AHRSRoll = float32(roll / ahrs.Deg)
 				mySituation.AHRSPitch = float32(pitch / ahrs.Deg)
 				mySituation.AHRSGyroHeading = float32(heading / ahrs.Deg)
 
-				mySituation.AHRSMagHeading = float32(s.MagHeading())
+				// TODO westphae: until magnetometer calibration is performed, no mag heading
+				mySituation.AHRSMagHeading = invalid
 				mySituation.AHRSSlipSkid = float32(s.SlipSkid())
 				mySituation.AHRSTurnRate = float32(s.RateOfTurn())
 				mySituation.AHRSGLoad = float32(s.GLoad())
 
 				mySituation.AHRSLastAttitudeTime = t
-				mySituation.muAttitude.Unlock()
-
-				// makeFFAHRSSimReport() // simultaneous use of GDL90 and FFSIM not supported in FF 7.5.1 or later. Function definition will be kept for AHRS debugging and future workarounds.
 			} else {
 				s.Reset()
+				mySituation.AHRSRoll = invalid
+				mySituation.AHRSPitch = invalid
+				mySituation.AHRSGyroHeading = invalid
+				mySituation.AHRSMagHeading = invalid
+				mySituation.AHRSSlipSkid = invalid
+				mySituation.AHRSTurnRate = invalid
+				mySituation.AHRSGLoad = invalid
+				mySituation.AHRSLastAttitudeTime = time.Time{}
 			}
+			mySituation.muAttitude.Unlock()
+
+			makeAHRSGDL90Report() // Send whether or not valid - the function will invalidate the values as appropriate
+			// makeFFAHRSSimReport() // Simultaneous use of GDL90 and FFSIM not supported in FF 7.5.1 or later. Function definition will be kept for AHRS debugging and future workarounds.
 
 			// Send to AHRS debugging server:
 			if ahrswebListener != nil {
diff --git a/web/plates/gps.html b/web/plates/gps.html
index 5315db07..e649480a 100644
--- a/web/plates/gps.html
+++ b/web/plates/gps.html
@@ -52,7 +52,7 @@
 					</div>
 					<div class="col-xs-9">
 						<div class="row">
-							<strong class="col-xs-3 text-center">Track</strong>
+							<strong class="col-xs-3 text-center">Heading</strong>
 							<strong class="col-xs-3 text-center">Pitch</strong>
 							<strong class="col-xs-3 text-center">Roll</strong>
 							<strong class="col-xs-3 text-center">P-Alt</strong>
diff --git a/web/plates/js/gps.js b/web/plates/js/gps.js
index 5a1d2eef..018783f0 100644
--- a/web/plates/js/gps.js
+++ b/web/plates/js/gps.js
@@ -143,22 +143,55 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
             $scope.ahrs_alt = "---";
         }
 
-        $scope.ahrs_heading = Math.round(situation.AHRSGyroHeading.toFixed(0));
-        // pitch and roll are in degrees
-        $scope.ahrs_pitch = situation.AHRSPitch.toFixed(1);
-        $scope.ahrs_roll = situation.AHRSRoll.toFixed(1);
-        $scope.ahrs_slip_skid = situation.AHRSSlipSkid.toFixed(1);
-        ahrs.update(situation.AHRSPitch, situation.AHRSRoll, situation.AHRSGyroHeading, situation.AHRSSlipSkid);
+        $scope.ahrs_time = Date.parse(situation.AHRSLastAttitudeTime);
+        if ($scope.gps_time - $scope.ahrs_time < 1000) {
+            // pitch, roll and heading are in degrees
+            $scope.ahrs_heading = Math.round(situation.AHRSGyroHeading.toFixed(0));
+            if ($scope.ahrs_heading > 360) {
+                $scope.ahrs_heading = "---";
+            }
+            $scope.ahrs_pitch = situation.AHRSPitch.toFixed(1);
+            if ($scope.ahrs_pitch > 360) {
+                $scope.ahrs_pitch = "--";
+            }
+            $scope.ahrs_roll = situation.AHRSRoll.toFixed(1);
+            if ($scope.ahrs_roll > 360) {
+                $scope.ahrs_roll = "--";
+            }
+            $scope.ahrs_slip_skid = situation.AHRSSlipSkid.toFixed(1);
+            if ($scope.ahrs_slip_skid > 360) {
+                $scope.ahrs_slip_skid = "--";
+            }
+            ahrs.update(situation.AHRSPitch, situation.AHRSRoll, situation.AHRSGyroHeading, situation.AHRSSlipSkid);
 
-        $scope.ahrs_heading_mag = situation.AHRSMagHeading.toFixed(0);
-        $scope.ahrs_gload = situation.AHRSGLoad.toFixed(2);
-        gMeter.update(situation.AHRSGLoad);
+            $scope.ahrs_heading_mag = situation.AHRSMagHeading.toFixed(0);
+            if ($scope.ahrs_heading_mag > 360) {
+                $scope.ahrs_heading_mag = "---";
+            }
+            $scope.ahrs_gload = situation.AHRSGLoad.toFixed(2);
+            if ($scope.ahrs_gload > 360) {
+                $scope.ahrs_gload = "--";
+            } else {
+                gMeter.update(situation.AHRSGLoad);
+            }
 
-        if (situation.AHRSTurnRate> 0.6031) {
-            $scope.ahrs_turn_rate = (6/situation.AHRSTurnRate).toFixed(1); // minutes/turn
+            if (situation.AHRSTurnRate > 360) {
+                $scope.ahrs_turn_rate = "--";
+            } else if (situation.AHRSTurnRate > 0.6031) {
+                $scope.ahrs_turn_rate = (6/situation.AHRSTurnRate).toFixed(1); // minutes/turn
+            } else {
+                $scope.ahrs_turn_rate = '\u221e';
+            }
         } else {
-            $scope.ahrs_turn_rate = '\u221e';
+            $scope.ahrs_heading = "---";
+            $scope.ahrs_pitch = "---";
+            $scope.ahrs_roll = "--";
+            $scope.ahrs_slip_skid = "--";
+            $scope.ahrs_heading_mag = "---";
+            $scope.ahrs_gload = "--";
+            $scope.ahrs_turn_rate = "--";
         }
+
         if (situation.AHRSStatus & 0x01) {
             statusGPS.classList.remove("off");
             statusGPS.classList.add("on");