diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index cd0edb6102..b9aac1f684 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -689,16 +689,20 @@ AP_InertialSensor::detect_backends(void)
     _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
 #elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
 
-    if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PX4V1) {
+    switch (AP_BoardConfig::get_board_type()) {
+    case AP_BoardConfig::PX4_BOARD_PX4V1:
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
+        break;
 
-    } else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK) {
+    case AP_BoardConfig::PX4_BOARD_PIXHAWK:
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_ROLL_180));
         _add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
                                                       hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
                                                       hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME),
                                                       ROTATION_ROLL_180, ROTATION_ROLL_180_YAW_270));
-    } else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
+        break;
+
+    case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
         // older Pixhawk2 boards have the MPU6000 instead of MPU9250
         _fast_sampling_mask.set_default(1);
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_EXT_NAME), ROTATION_PITCH_180));
@@ -707,20 +711,28 @@ AP_InertialSensor::detect_backends(void)
                                                       hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME),
                                                       ROTATION_ROLL_180_YAW_270, ROTATION_ROLL_180_YAW_90));
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270));
-    } else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) {
+        break;
+
+    case AP_BoardConfig::PX4_BOARD_PIXRACER:
         _fast_sampling_mask.set_default(3);
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_NAME), ROTATION_ROLL_180_YAW_90));
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180_YAW_90));
+        break;
 
-    } else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PHMINI) {
+    case AP_BoardConfig::PX4_BOARD_PHMINI:
         // PHMINI uses ICM20608 on the ACCEL_MAG device and a MPU9250 on the old MPU6000 CS line
         _fast_sampling_mask.set_default(3);
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_ICM20608_AM_NAME), ROTATION_ROLL_180));
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_ROLL_180));
+        break;
 
-    } else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM) {
+    case AP_BoardConfig::PX4_BOARD_PH2SLIM:
         _fast_sampling_mask.set_default(1);
         _add_backend(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270));
+        break;
+
+    default:
+        break;
     }
     // also add any PX4 backends (eg. canbus sensors)
     _add_backend(AP_InertialSensor_PX4::detect(*this));