diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index d8baeead15..73a048e4e4 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -394,6 +394,14 @@ bool AP_Arming::ins_checks(bool report)
             check_failed(ARMING_CHECK_INS, report, "%s", failure_msg);
             return false;
         }
+#if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
+        if (ins.gyro_harmonic_notch_enabled(0) &&
+            ins.gyro_harmonic_notch_enabled(1) &&
+            ins.get_gyro_harmonic_notch_tracking_mode(0) != HarmonicNotchDynamicMode::Fixed &&
+            ins.get_gyro_harmonic_notch_tracking_mode(0) != ins.get_gyro_harmonic_notch_tracking_mode(1)) {
+            check_failed(ARMING_CHECK_INS, report, "conflicting notch filters");
+        }
+#endif
     }
 
 #if HAL_GYROFFT_ENABLED