ESA50

I am at the moment trawling through my ESA50, obviously using your very useful guides, I don't want to put myself in a precarious position - I won my last award at First-Tier Tribunal - that awarded me 15 points from the HCP's ( 0-points ) for mobilising unaided by another person or walking stick / wheelchair, my problem is I also have an award for PIP - but this was awarded at standard rate as they only awarded me 10 points for moving about, since these decisions ESA in Sept 16 & PIP in Oct 16 my mobility as worsened in the last year to the point where my mobility when aided is now less than 20 metres & I am mainly taken out now in a wheelchair - my Doctors & consultants have furnished me with my medical records to support this - but my problem is - that with fishing all my previous paperwork out to complete the ESA50 I noticed that they tell you that you should let them know any changes in your health - because of my health problems ect I have not told them that my situation as worsened - but now that I have to fill this ESA50 I am having to tell them the full S.P. - my question is .... is this going to cause me problems ??
By the way my PIP award is due for review in Sept 19, your comments would be helpful.