diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index e788475693..c4960ac61b 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1613,6 +1613,9 @@ AuxiliaryBus *AP_InertialSensor::get_auxiliary_bus(int16_t backend_id, uint8_t i
 void AP_InertialSensor::calc_vibration_and_clipping(uint8_t instance, const Vector3f &accel, float dt)
 {
     // check for clipping
+    if (_backends[instance] == nullptr) {
+        return;
+    }
     if (fabsf(accel.x) >  _backends[instance]->get_clip_limit() ||
         fabsf(accel.y) >  _backends[instance]->get_clip_limit() ||
         fabsf(accel.z) > _backends[instance]->get_clip_limit()) {