diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 8e4d86e9b6..7c49f588b7 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -344,7 +344,7 @@ int Sensors::parameters_update()
 		// sensor_accel
 		uORB::SubscriptionData<sensor_accel_s> sensor_accel_sub{ORB_ID(sensor_accel), i};
 
-		if (sensor_accel_sub.get().device_id != 0) {
+		if (sensor_accel_sub.advertised() && (sensor_accel_sub.get().device_id != 0)) {
 			calibration::Accelerometer cal;
 			cal.set_calibration_index(i);
 			cal.ParametersLoad();
@@ -353,7 +353,7 @@ int Sensors::parameters_update()
 		// sensor_gyro
 		uORB::SubscriptionData<sensor_gyro_s> sensor_gyro_sub{ORB_ID(sensor_gyro), i};
 
-		if (sensor_gyro_sub.get().device_id != 0) {
+		if (sensor_gyro_sub.advertised() && (sensor_gyro_sub.get().device_id != 0)) {
 			calibration::Gyroscope cal;
 			cal.set_calibration_index(i);
 			cal.ParametersLoad();
@@ -362,7 +362,7 @@ int Sensors::parameters_update()
 		// sensor_mag
 		uORB::SubscriptionData<sensor_mag_s> sensor_mag_sub{ORB_ID(sensor_mag), i};
 
-		if (sensor_mag_sub.get().device_id != 0) {
+		if (sensor_mag_sub.advertised() && (sensor_mag_sub.get().device_id != 0)) {
 			calibration::Magnetometer cal;
 			cal.set_calibration_index(i);
 			cal.ParametersLoad();
diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
index 7dd62009e4..d1baa48e3d 100644
--- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
@@ -91,8 +91,10 @@ void VehicleAcceleration::CheckAndUpdateFilters()
 
 		const float sample_rate_hz = imu_status.get().accel_rate_hz;
 
-		if ((imu_status.get().accel_device_id != 0) && (imu_status.get().accel_device_id == _calibration.device_id())
+		if (imu_status.advertised() && (imu_status.get().timestamp != 0)
+		    && (imu_status.get().accel_device_id != 0) && (imu_status.get().accel_device_id == _calibration.device_id())
 		    && PX4_ISFINITE(sample_rate_hz) && (sample_rate_hz > 0)) {
+
 			// check if sample rate error is greater than 1%
 			if (!PX4_ISFINITE(_filter_sample_rate) || (fabsf(sample_rate_hz - _filter_sample_rate) / _filter_sample_rate) > 0.01f) {
 				PX4_DEBUG("sample rate changed: %.3f Hz -> %.3f Hz", (double)_filter_sample_rate, (double)sample_rate_hz);
@@ -161,7 +163,8 @@ bool VehicleAcceleration::SensorSelectionUpdate(bool force)
 
 				const uint32_t device_id = sensor_accel_sub.get().device_id;
 
-				if ((device_id != 0) && (device_id == sensor_selection.accel_device_id)) {
+				if (sensor_accel_sub.advertised() && (sensor_accel_sub.get().timestamp != 0)
+				    && (device_id != 0) && (device_id == sensor_selection.accel_device_id)) {
 
 					if (_sensor_sub.ChangeInstance(i) && _sensor_sub.registerCallback()) {
 						PX4_DEBUG("selected sensor changed %" PRIu32 " -> %" PRIu32 "", _calibration.device_id(), device_id);
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
index 770d32f25b..3d8262fbf9 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
@@ -230,19 +230,20 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(const hrt_abstime &time_now_u
 		// use vehicle_imu_status to do basic sensor selection validation
 		for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) {
 			uORB::SubscriptionData<vehicle_imu_status_s> imu_status{ORB_ID(vehicle_imu_status), i};
-			bool imu_status_gyro_valid = false;
 
-			if ((imu_status.get().gyro_device_id != 0) && (time_now_us < imu_status.get().timestamp + 1_s)) {
-				imu_status_gyro_valid = true;
-			}
+			if (imu_status.advertised()
+			    && (imu_status.get().timestamp != 0) && (time_now_us < imu_status.get().timestamp + 1_s)
+			    && (imu_status.get().gyro_device_id != 0)) {
+				// vehicle_imu_status gyro valid
 
-			if ((device_id != 0) && (imu_status.get().gyro_device_id == device_id) && imu_status_gyro_valid) {
-				selected_device_id_valid = true;
-			}
+				if ((device_id != 0) && (imu_status.get().gyro_device_id == device_id)) {
+					selected_device_id_valid = true;
+				}
 
-			// record first valid IMU as a backup option
-			if ((device_id_first_valid_imu == 0) && imu_status_gyro_valid) {
-				device_id_first_valid_imu = imu_status.get().gyro_device_id;
+				// record first valid IMU as a backup option
+				if (device_id_first_valid_imu == 0) {
+					device_id_first_valid_imu = imu_status.get().gyro_device_id;
+				}
 			}
 		}
 
@@ -259,7 +260,11 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(const hrt_abstime &time_now_u
 			for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) {
 				uORB::SubscriptionData<sensor_gyro_fifo_s> sensor_gyro_fifo_sub{ORB_ID(sensor_gyro_fifo), i};
 
-				if ((time_now_us < sensor_gyro_fifo_sub.get().timestamp + 1_s) && (sensor_gyro_fifo_sub.get().device_id != 0)) {
+				if (sensor_gyro_fifo_sub.advertised()
+				    && (sensor_gyro_fifo_sub.get().timestamp != 0)
+				    && (sensor_gyro_fifo_sub.get().device_id != 0)
+				    && (time_now_us < sensor_gyro_fifo_sub.get().timestamp + 1_s)) {
+
 					// if no gyro was selected use the first valid sensor_gyro_fifo
 					if (!device_id_valid) {
 						device_id = sensor_gyro_fifo_sub.get().device_id;
@@ -297,7 +302,11 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(const hrt_abstime &time_now_u
 			for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) {
 				uORB::SubscriptionData<sensor_gyro_s> sensor_gyro_sub{ORB_ID(sensor_gyro), i};
 
-				if ((time_now_us < sensor_gyro_sub.get().timestamp + 1_s) && (sensor_gyro_sub.get().device_id != 0)) {
+				if (sensor_gyro_sub.advertised()
+				    && (sensor_gyro_sub.get().timestamp != 0)
+				    && (sensor_gyro_sub.get().device_id != 0)
+				    && (time_now_us < sensor_gyro_sub.get().timestamp + 1_s)) {
+
 					// if no gyro was selected use the first valid sensor_gyro
 					if (!device_id_valid) {
 						device_id = sensor_gyro_sub.get().device_id;
diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index 934fb83c95..fd14defed3 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -87,7 +87,8 @@ void VotedSensorsUpdate::parametersUpdate()
 		uORB::SubscriptionData<vehicle_imu_s> imu{ORB_ID(vehicle_imu), uorb_index};
 		imu.update();
 
-		if (imu.get().timestamp > 0 && imu.get().accel_device_id > 0 && imu.get().gyro_device_id > 0) {
+		if (imu.advertised() && (imu.get().timestamp != 0)
+		    && (imu.get().accel_device_id != 0) && (imu.get().gyro_device_id != 0)) {
 
 			// find corresponding configured accel priority
 			int8_t accel_cal_index = calibration::FindCurrentCalibrationIndex("ACC", imu.get().accel_device_id);