diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 75180f1aab..a04d1e8481 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -185,7 +185,7 @@ void AP_AHRS_NavEKF::update_EKF2(void)
 
             // calculate corrected gyro estimate for get_gyro()
             _gyro_estimate.zero();
-            if (primary_imu == -1) {
+            if (primary_imu == -1 || !_ins.get_gyro_health(primary_imu)) {
                 // the primary IMU is undefined so use an uncorrected default value from the INS library
                 _gyro_estimate = _ins.get_gyro();
             } else {
@@ -258,7 +258,7 @@ void AP_AHRS_NavEKF::update_EKF3(void)
 
             // calculate corrected gyro estimate for get_gyro()
             _gyro_estimate.zero();
-            if (primary_imu == -1) {
+            if (primary_imu == -1 || !_ins.get_gyro_health(primary_imu)) {
                 // the primary IMU is undefined so use an uncorrected default value from the INS library
                 _gyro_estimate = _ins.get_gyro();
             } else {