diff --git a/src/modules/ekf2/EKF/gravity_fusion.cpp b/src/modules/ekf2/EKF/gravity_fusion.cpp
index 8a09b72f79..0017835d9e 100644
--- a/src/modules/ekf2/EKF/gravity_fusion.cpp
+++ b/src/modules/ekf2/EKF/gravity_fusion.cpp
@@ -82,7 +82,9 @@ void Ekf::controlGravityFusion(const imuSample &imu)
 
 	_aid_src_gravity.fusion_enabled = _control_status.flags.gravity_vector;
 
-	if (_aid_src_gravity.fusion_enabled && !_aid_src_gravity.innovation_rejected) {
+	const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];
+
+	if (_aid_src_gravity.fusion_enabled && !_aid_src_gravity.innovation_rejected && !accel_clipping) {
 		// perform fusion for each axis
 		_aid_src_gravity.fused = measurementUpdate(Kx, innovation_variance(0), innovation(0))
 					 && measurementUpdate(Ky, innovation_variance(1), innovation(1))