diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 488bf722a2..8764e4f36a 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -512,7 +512,7 @@ uint8_t AP_InertialSensor::register_gyro(uint16_t raw_sample_rate_hz,
 
     _gyro_id[_gyro_count].set((int32_t) id);
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     if (!saved) {
         // assume this is the same sensor and save its ID to allow seamless
         // transition from when we didn't have the IDs.
@@ -551,7 +551,7 @@ uint8_t AP_InertialSensor::register_accel(uint16_t raw_sample_rate_hz,
 
     _accel_id[_accel_count].set((int32_t) id);
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
         // assume this is the same sensor and save its ID to allow seamless
         // transition from when we didn't have the IDs.
         _accel_id_ok[_accel_count] = true;