diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
index abc916f333..e8c35d768a 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
@@ -99,7 +99,7 @@ bool NavEKF2_core::setup_core(uint8_t _imu_index, uint8_t _core_index)
         }
 
         // try to instantiate
-        yawEstimator = new EKFGSF_yaw();
+        yawEstimator = NEW_NOTHROW EKFGSF_yaw();
         if (yawEstimator == nullptr) {
             GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "EKF2 IMU%uGSF: allocation failed",(unsigned)imu_index);
             return false;