diff --git a/flight/Modules/Sensors/sensors.c b/flight/Modules/Sensors/sensors.c
index 929cab662..2e097d0c6 100644
--- a/flight/Modules/Sensors/sensors.c
+++ b/flight/Modules/Sensors/sensors.c
@@ -317,6 +317,12 @@ static void SensorsTask(void *parameters)
 					gyro_samples ++;
 					accel_samples ++;
 				}
+				
+				if (gyro_samples == 0) {
+					PIOS_MPU6000_ReadGyros(&mpu6000_data);
+					error = true;
+					continue;
+				}
 
 				gyro_scaling = PIOS_MPU6000_GetScale();
 				accel_scaling = PIOS_MPU6000_GetAccelScale();