diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 802e7e780e..6240d85532 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -751,8 +751,13 @@ STATIC_UNIT_TESTED void servoMixer(void)
 void mixTable(void)
 {
     uint32_t i;
-    fix12_t vbatCompensationFactor;
+    fix12_t vbatCompensationFactor = 0;
     static fix12_t mixReduction;
+    bool use_vbat_compensation = false;
+    if (batteryConfig && batteryConfig->vbatPidCompensation) {
+        use_vbat_compensation = true;
+        vbatCompensationFactor = calculateVbatPidCompensation();
+    }
 
     bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
 
@@ -766,7 +771,7 @@ void mixTable(void)
     int16_t rollPitchYawMixMax = 0; // assumption: symetrical about zero.
     int16_t rollPitchYawMixMin = 0;
 
-    if (batteryConfig->vbatPidCompensation) vbatCompensationFactor = calculateVbatPidCompensation(); // Calculate voltage compensation
+    if (use_vbat_compensation) rollPitchYawMix[i] = qMultiply(vbatCompensationFactor, rollPitchYawMix[i]);  // Add voltage compensation
 
     // Find roll/pitch/yaw desired output
     for (i = 0; i < motorCount; i++) {
@@ -775,7 +780,7 @@ void mixTable(void)
             axisPID[ROLL] * currentMixer[i].roll +
             -mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
 
-        if (batteryConfig->vbatPidCompensation) rollPitchYawMix[i] = qMultiply(vbatCompensationFactor, rollPitchYawMix[i]);  // Add voltage compensation
+        if (use_vbat_compensation) rollPitchYawMix[i] = qMultiply(vbatCompensationFactor, rollPitchYawMix[i]);  // Add voltage compensation
 
         if (rollPitchYawMix[i] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
         if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];