diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp b/src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp
index e69ba4c18f..6f6e70d096 100644
--- a/src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp
+++ b/src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.cpp
@@ -120,7 +120,7 @@ void MPU9250_AK8963::Run()
 								       CNTL1_BIT::BIT_16 | CNTL1_BIT::CONTINUOUS_MODE_2);
 
 					_state = STATE::READ;
-					ScheduleOnInterval(10_ms, 100_ms); // 100 Hz
+					ScheduleDelayed(100_ms);
 				}
 
 			} else {
@@ -175,8 +175,7 @@ void MPU9250_AK8963::Run()
 				if (buffer.ST2 & ST2_BIT::HOFL) {
 					perf_count(_magnetic_sensor_overflow_perf);
 
-				} else if ((buffer.ST1 & ST1_BIT::DRDY) && (buffer.ST2 & ST2_BIT::BITM)) {
-
+				} else if (buffer.ST2 & ST2_BIT::BITM) {
 					const int16_t x = combine(buffer.HXH, buffer.HXL);
 					const int16_t y = combine(buffer.HYH, buffer.HYL);
 					const int16_t z = combine(buffer.HZH, buffer.HZL);
@@ -192,6 +191,9 @@ void MPU9250_AK8963::Run()
 					success = true;
 
 					_consecutive_failures = 0;
+
+					ScheduleDelayed(20_ms); // ~50 Hz
+					return;
 				}
 			}
 
@@ -199,7 +201,7 @@ void MPU9250_AK8963::Run()
 				perf_count(_bad_transfer_perf);
 				_consecutive_failures++;
 
-				if (_consecutive_failures > 10) {
+				if (_consecutive_failures > 100) {
 					Reset();
 					return;
 				}
@@ -207,6 +209,7 @@ void MPU9250_AK8963::Run()
 
 			// ensure mpu9250 slave sensor reading is configured
 			_mpu9250.I2CSlaveExternalSensorDataEnable(I2C_ADDRESS_DEFAULT, (uint8_t)Register::ST1, sizeof(TransferBuffer));
+			ScheduleDelayed(100_ms);
 		}
 
 		break;