diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
index a2cc0ebe5e..43b1e7cd3e 100644
--- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
@@ -328,15 +328,15 @@ void VehicleIMU::Run()
 
 			publish_status = true;
 
-			// start notifying the user periodically if there's significant continuous clipping
-			const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2];
+			if (_accel_calibration.enabled() && (hrt_elapsed_time(&_last_clipping_notify_time) > 3_s)) {
+				// start notifying the user periodically if there's significant continuous clipping
+				const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2];
 
-			if ((hrt_elapsed_time(&_last_clipping_notify_time) > 3_s)
-			    && (clipping_total > _last_clipping_notify_total_count + 100)) {
-
-				mavlink_log_critical(&_mavlink_log_pub, "Accel %d clipping, land immediately!", _instance);
-				_last_clipping_notify_time = accel.timestamp_sample;
-				_last_clipping_notify_total_count = clipping_total;
+				if (clipping_total > _last_clipping_notify_total_count + 1000) {
+					mavlink_log_critical(&_mavlink_log_pub, "Accel %d clipping, not safe to fly!", _instance);
+					_last_clipping_notify_time = accel.timestamp_sample;
+					_last_clipping_notify_total_count = clipping_total;
+				}
 			}
 		}