diff --git a/firmware/controllers/actuators/electronic_throttle.cpp b/firmware/controllers/actuators/electronic_throttle.cpp
index 8fa6346163..54b4d9840d 100644
--- a/firmware/controllers/actuators/electronic_throttle.cpp
+++ b/firmware/controllers/actuators/electronic_throttle.cpp
@@ -185,6 +185,11 @@ bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidPara
 			return false;
 		}
 
+		// If no sensor is configured for this throttle, skip initialization.
+		if (!Sensor::hasSensor(functionToTpsSensorPrimary(function))) {
+			return false;
+		}
+
 		if (!Sensor::isRedundant(m_positionSensor)) {
 			firmwareError(
 				OBD_Throttle_Position_Sensor_Circuit_Malfunction,
diff --git a/unit_tests/tests/test_etb.cpp b/unit_tests/tests/test_etb.cpp
index 1b35469293..ba8bae29a1 100644
--- a/unit_tests/tests/test_etb.cpp
+++ b/unit_tests/tests/test_etb.cpp
@@ -174,6 +174,7 @@ TEST(etb, initializationNotRedundantTps) {
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
 	// Not redundant, should fail upon init
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, false);
 
 	EXPECT_FATAL_ERROR(dut.init(ETB_Throttle1, nullptr, nullptr, nullptr, true));
@@ -186,11 +187,32 @@ TEST(etb, initializationNotRedundantPedal) {
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, false);
 
 	// Normal redundant TPS
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 
 	EXPECT_FATAL_ERROR(dut.init(ETB_Throttle1, nullptr, nullptr, nullptr, true));
 }
 
+TEST(etb, initializationNoPrimarySensor) {
+	Sensor::resetAllMocks();
+
+	EtbController dut;
+
+	// Needs pedal for init
+	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
+
+	// Redundant, but no primary configured
+	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
+
+	EXPECT_FALSE(dut.init(ETB_Throttle1, nullptr, nullptr, nullptr, true));
+
+	// Now configure primary TPS
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
+
+	// With primary TPS, should return true (ie, throttle was configured)
+	EXPECT_TRUE(dut.init(ETB_Throttle1, nullptr, nullptr, nullptr, true));
+}
+
 TEST(etb, initializationNoThrottles) {
 	// This tests the case where you don't want an ETB, and expect everything to go fine
 	EtbController duts[2];
@@ -209,6 +231,7 @@ TEST(etb, initializationNoThrottles) {
 	Sensor::resetMockValue(SensorType::AcceleratorPedal);
 
 	// Not redundant TPS (aka cable throttle)
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, false);
 
 	EXPECT_NO_FATAL_ERROR(doInitElectronicThrottle(PASS_ENGINE_PARAMETER_SIGNATURE));
@@ -251,6 +274,7 @@ TEST(etb, testSetpointOnlyPedal) {
 	EXPECT_EQ(etb.getSetpoint(), unexpected);
 
 	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
@@ -296,6 +320,7 @@ TEST(etb, setpointIdle) {
 	engineConfiguration->etbIdleThrottleRange = 0;
 
 	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
@@ -353,6 +378,7 @@ TEST(etb, setpointRevLimit) {
 	engineConfiguration->etbRevLimitRange = 750;
 
 	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
@@ -482,6 +508,7 @@ TEST(etb, setOutputInvalid) {
 	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
 
 	// Redundant TPS & accelerator pedal required for init
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);
 
@@ -502,6 +529,7 @@ TEST(etb, setOutputValid) {
 	StrictMock<MockMotor> motor;
 
 	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
@@ -522,6 +550,7 @@ TEST(etb, setOutputValid2) {
 	StrictMock<MockMotor> motor;
 
 	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
@@ -542,6 +571,7 @@ TEST(etb, setOutputOutOfRangeHigh) {
 	StrictMock<MockMotor> motor;
 
 	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
@@ -562,6 +592,7 @@ TEST(etb, setOutputOutOfRangeLow) {
 	StrictMock<MockMotor> motor;
 
 	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
@@ -582,6 +613,7 @@ TEST(etb, setOutputPauseControl) {
 	StrictMock<MockMotor> motor;
 
 	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
@@ -603,6 +635,7 @@ TEST(etb, setOutputLimpHome) {
 	StrictMock<MockMotor> motor;
 
 	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
@@ -626,6 +659,7 @@ TEST(etb, closedLoopPid) {
 	pid.minValue = -60;
 
 	// Must have TPS & PPS initialized for ETB setup
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
 
@@ -651,6 +685,7 @@ TEST(etb, openLoopThrottle) {
 	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
 
 	// Redundant TPS & accelerator pedal required for init
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);
 
@@ -673,6 +708,7 @@ TEST(etb, openLoopNonThrottle) {
 	WITH_ENGINE_TEST_HELPER(TEST_ENGINE);
 
 	// Redundant TPS & accelerator pedal required for init
+	Sensor::setMockValue(SensorType::Tps1Primary, 0);
 	Sensor::setMockValue(SensorType::Tps1, 0, true);
 	Sensor::setMockValue(SensorType::AcceleratorPedal, 0, true);