diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index b19b2614ad..40fdb8878e 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -746,7 +746,7 @@ bool AP_InertialSensor::register_accel(uint8_t &instance, uint16_t raw_sample_ra
 
     _accel_id[_accel_count].set((int32_t) id);
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && AP_SIM_ENABLED)
         // 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;