diff --git a/src/drivers/imu/invensense/icm20602/ICM20602.hpp b/src/drivers/imu/invensense/icm20602/ICM20602.hpp
index 250fb0e732..02b7ea3986 100644
--- a/src/drivers/imu/invensense/icm20602/ICM20602.hpp
+++ b/src/drivers/imu/invensense/icm20602/ICM20602.hpp
@@ -78,7 +78,8 @@ private:
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / 2.f};      // 4 kHz accel
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
diff --git a/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp b/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp
index 8ee5196be3..c2018c3e17 100644
--- a/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp
+++ b/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp
@@ -78,7 +78,8 @@ private:
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
diff --git a/src/drivers/imu/invensense/icm20649/ICM20649.hpp b/src/drivers/imu/invensense/icm20649/ICM20649.hpp
index 4daccdb12b..108ff005e4 100644
--- a/src/drivers/imu/invensense/icm20649/ICM20649.hpp
+++ b/src/drivers/imu/invensense/icm20649/ICM20649.hpp
@@ -78,7 +78,8 @@ private:
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 9000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / 2.f};      // 4500 Hz accel
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
diff --git a/src/drivers/imu/invensense/icm20689/ICM20689.hpp b/src/drivers/imu/invensense/icm20689/ICM20689.hpp
index a3e40af8b1..3d48d317f7 100644
--- a/src/drivers/imu/invensense/icm20689/ICM20689.hpp
+++ b/src/drivers/imu/invensense/icm20689/ICM20689.hpp
@@ -78,7 +78,8 @@ private:
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 4000 Hz accel
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
diff --git a/src/drivers/imu/invensense/icm20948/ICM20948.hpp b/src/drivers/imu/invensense/icm20948/ICM20948.hpp
index 4aed84c4fd..2414a763f6 100644
--- a/src/drivers/imu/invensense/icm20948/ICM20948.hpp
+++ b/src/drivers/imu/invensense/icm20948/ICM20948.hpp
@@ -80,7 +80,8 @@ private:
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 9000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / 2.f};      // 4500 Hz accel
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
diff --git a/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp b/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp
index aba0b60255..19a4ed6c27 100644
--- a/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp
+++ b/src/drivers/imu/invensense/icm40609d/ICM40609D.hpp
@@ -78,7 +78,8 @@ private:
 	static constexpr float GYRO_RATE{1000000 / FIFO_SAMPLE_DT}; // 8 kHz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE};               // 8 kHz accel
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
diff --git a/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp b/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
index 6cde39f3b6..fed59bb0f5 100644
--- a/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
+++ b/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
@@ -78,7 +78,8 @@ private:
 	static constexpr float GYRO_RATE{1000000 / FIFO_SAMPLE_DT}; // 8 kHz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE};               // 8 kHz accel
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
diff --git a/src/drivers/imu/invensense/mpu6000/MPU6000.hpp b/src/drivers/imu/invensense/mpu6000/MPU6000.hpp
index 0ad7b8c89a..89fe96c091 100644
--- a/src/drivers/imu/invensense/mpu6000/MPU6000.hpp
+++ b/src/drivers/imu/invensense/mpu6000/MPU6000.hpp
@@ -78,7 +78,8 @@ private:
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};             // 8000 Hz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / SAMPLES_PER_TRANSFER}; // 1000 Hz accel
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
diff --git a/src/drivers/imu/invensense/mpu6500/MPU6500.hpp b/src/drivers/imu/invensense/mpu6500/MPU6500.hpp
index 9af14080a5..a3634b46e1 100644
--- a/src/drivers/imu/invensense/mpu6500/MPU6500.hpp
+++ b/src/drivers/imu/invensense/mpu6500/MPU6500.hpp
@@ -78,7 +78,8 @@ private:
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / 2.f};      // 4 kHz accel
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250.hpp b/src/drivers/imu/invensense/mpu9250/MPU9250.hpp
index 6a2c1ebcd5..4a1bcad042 100644
--- a/src/drivers/imu/invensense/mpu9250/MPU9250.hpp
+++ b/src/drivers/imu/invensense/mpu9250/MPU9250.hpp
@@ -80,7 +80,8 @@ private:
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; // 8 kHz gyro
 	static constexpr float ACCEL_RATE{GYRO_RATE / 2.f};      // 4 kHz accel
 
-	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0]))};
+	// maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo
+	static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {