diff --git a/src/drivers/bmi160/bmi160.cpp b/src/drivers/bmi160/bmi160.cpp
index 43b5d30bd5..06d4b941c0 100644
--- a/src/drivers/bmi160/bmi160.cpp
+++ b/src/drivers/bmi160/bmi160.cpp
@@ -55,8 +55,8 @@ BMI160::BMI160(int bus, const char *path_accel, const char *path_gyro, spi_dev_e
 	_gyro_filter_x(BMI160_GYRO_DEFAULT_RATE, BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
 	_gyro_filter_y(BMI160_GYRO_DEFAULT_RATE, BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
 	_gyro_filter_z(BMI160_GYRO_DEFAULT_RATE, BMI160_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
-	_accel_int(1000000 / BMI160_ACCEL_MAX_RATE),
-	_gyro_int(1000000 / BMI160_GYRO_MAX_RATE, true),
+	_accel_int(1000000 / BMI160_ACCEL_MAX_PUBLISH_RATE),
+	_gyro_int(1000000 / BMI160_GYRO_MAX_PUBLISH_RATE, true),
 	_rotation(rotation),
 	_checked_next(0),
 	_last_temperature(0),
diff --git a/src/drivers/bmi160/bmi160.hpp b/src/drivers/bmi160/bmi160.hpp
index 4140f7a936..d18f8a9182 100644
--- a/src/drivers/bmi160/bmi160.hpp
+++ b/src/drivers/bmi160/bmi160.hpp
@@ -227,8 +227,10 @@
 #define BMI160_GYRO_DEFAULT_RANGE_DPS		2000
 #define BMI160_ACCEL_DEFAULT_RATE           800
 #define BMI160_ACCEL_MAX_RATE               1600
+#define BMI160_ACCEL_MAX_PUBLISH_RATE       280
 #define BMI160_GYRO_DEFAULT_RATE            800
 #define BMI160_GYRO_MAX_RATE                3200
+#define BMI160_GYRO_MAX_PUBLISH_RATE        BMI160_ACCEL_MAX_PUBLISH_RATE
 
 #define BMI160_ACCEL_DEFAULT_ONCHIP_FILTER_FREQ	324
 #define BMI160_ACCEL_DEFAULT_DRIVER_FILTER_FREQ	50