Is my baby ok?!

17w5d pregnant and hubby and I were having sex and it’s still comfortable to sleep on my stomach so I thought it would be ok to have sex with me laying on my tummy and him behind. He didn’t have all his weight on me and it was less than a minute or two before we switched positions. I can’t help but think I squished my baby or something. I’m nervous. I have no pain and heard the baby heart beat on my Doppler but could use some reassurance. Never doing that position again during this pregnancy.