diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 3000669fa5..f007e07e72 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -869,6 +869,9 @@ AP_InertialSensor::detect_backends(void)
     for (uint8_t i=0; i<AP::sitl()->imu_count; i++) {
         ADD_BACKEND(AP_InertialSensor_SITL::detect(*this, i==1?INS_SITL_SENSOR_B:INS_SITL_SENSOR_A));
     }
+#if defined(HAL_SITL_INVENSENSEV3)
+    ADD_BACKEND(AP_InertialSensor_Invensensev3::probe(*this, hal.i2c_mgr->get_device(1, 1), ROTATION_NONE));
+#endif
 #elif HAL_INS_DEFAULT == HAL_INS_HIL
     ADD_BACKEND(AP_InertialSensor_HIL::detect(*this));
 #elif AP_FEATURE_BOARD_DETECT