diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 68663a9e24..c7ac351325 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1493,14 +1493,6 @@ void AP_InertialSensor::update(void)
             _backends[i]->update();
         }
 
-        // clear accumulators
-        for (uint8_t i = 0; i < INS_MAX_INSTANCES; i++) {
-            _delta_velocity_acc[i].zero();
-            _delta_velocity_acc_dt[i] = 0;
-            _delta_angle_acc[i].zero();
-            _delta_angle_acc_dt[i] = 0;
-        }
-
         if (!_startup_error_counts_set) {
             for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
                 _accel_startup_error_count[i] = _accel_error_count[i];
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index b70539bb71..a5a0ee4da5 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -171,6 +171,9 @@ void AP_InertialSensor_Backend::_publish_gyro(uint8_t instance, const Vector3f &
     _imu._delta_angle[instance] = _imu._delta_angle_acc[instance];
     _imu._delta_angle_dt[instance] = _imu._delta_angle_acc_dt[instance];
     _imu._delta_angle_valid[instance] = true;
+
+    _imu._delta_angle_acc[instance].zero();
+    _imu._delta_angle_acc_dt[instance] = 0;
 }
 
 void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(uint8_t instance,
@@ -330,6 +333,8 @@ void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f
     _imu._delta_velocity_dt[instance] = _imu._delta_velocity_acc_dt[instance];
     _imu._delta_velocity_valid[instance] = true;
 
+    _imu._delta_velocity_acc[instance].zero();
+    _imu._delta_velocity_acc_dt[instance] = 0;
 
     if (_imu._accel_calibrator != nullptr && _imu._accel_calibrator[instance].get_status() == ACCEL_CAL_COLLECTING_SAMPLE) {
         Vector3f cal_sample = _imu._delta_velocity[instance];