diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
index 14d88da32d..35fb9d79a0 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
@@ -207,7 +207,9 @@ bool SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
     osalSysUnlock();
     if (msg == MSG_TIMEOUT) {
         ret = false;
-        AP::internalerror().error(AP_InternalError::error_t::spi_fail);
+        if (!hal.scheduler->in_expected_delay()) {
+            AP::internalerror().error(AP_InternalError::error_t::spi_fail);
+        }
         spiAbort(spi_devices[device_desc.bus].driver);
     }
     bus.bouncebuffer_finish(send, recv, len);