diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index f9eb1e37de..80d555ffed 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -1007,7 +1007,7 @@ void processRxModes(timeUs_t currentTimeUs)
     }
 #endif
 
-    if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
+    if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode && sensors(SENSOR_ACC)) {
         DISABLE_FLIGHT_MODE(ANGLE_MODE);
         if (!FLIGHT_MODE(HORIZON_MODE)) {
             ENABLE_FLIGHT_MODE(HORIZON_MODE);