diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index b62c3b6cc5..bbdf3ccc85 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -347,11 +347,16 @@ void AttitudeEstimatorQ::task_main()
 
 					_voter_gyro.put(i, sensors.gyro_timestamp[i], &gyro[0], sensors.gyro_errcount[i], sensors.gyro_priority[i]);
 				}
-
-				_voter_accel.put(i, sensors.accelerometer_timestamp[i], &sensors.accelerometer_m_s2[i * 3],
-						 sensors.accelerometer_errcount[i], sensors.accelerometer_priority[i]);
-				_voter_mag.put(i, sensors.magnetometer_timestamp[i], &sensors.magnetometer_ga[i * 3],
+				/* ignore empty fields */
+				if (sensors.accelerometer_timestamp[i] > 0) {
+					_voter_accel.put(i, sensors.accelerometer_timestamp[i], &sensors.accelerometer_m_s2[i * 3],
+						sensors.accelerometer_errcount[i], sensors.accelerometer_priority[i]);
+				}
+				/* ignore empty fields */
+				if (sensors.magnetometer_timestamp[i] > 0) {
+					_voter_mag.put(i, sensors.magnetometer_timestamp[i], &sensors.magnetometer_ga[i * 3],
 					       sensors.magnetometer_errcount[i], sensors.magnetometer_priority[i]);
+				}
 			}
 
 			int best_gyro, best_accel, best_mag;