diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index dd208f79da..6b91943c65 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -250,16 +250,24 @@ void AP_ExternalAHRS::get_filter_status(nav_filter_status &status) const
     }
 }
 
-Vector3f AP_ExternalAHRS::get_gyro(void)
+bool AP_ExternalAHRS::get_gyro(Vector3f &gyro)
 {
     WITH_SEMAPHORE(state.sem);
-    return state.gyro;
+    if (!has_sensor(AvailableSensor::IMU)) {
+        return false;
+    }
+    gyro = state.gyro;
+    return true;
 }
 
-Vector3f AP_ExternalAHRS::get_accel(void)
+bool AP_ExternalAHRS::get_accel(Vector3f &accel)
 {
     WITH_SEMAPHORE(state.sem);
-    return state.accel;
+    if (!has_sensor(AvailableSensor::IMU)) {
+        return false;
+    }
+    accel = state.accel;
+    return true;
 }
 
 // send an EKF_STATUS message to GCS
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index e62b660815..72e3161f79 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -115,8 +115,8 @@ public:
     bool get_speed_down(float &speedD);
     bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const;
     void get_filter_status(nav_filter_status &status) const;
-    Vector3f get_gyro(void);
-    Vector3f get_accel(void);
+    bool get_gyro(Vector3f &gyro);
+    bool get_accel(Vector3f &accel);
     void send_status_report(class GCS_MAVLINK &link) const;
 
     // update backend