diff --git a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp b/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
index 1efe2a93ff..0adf2e1f4b 100644
--- a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
@@ -75,7 +75,7 @@
 #define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
 #define MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ 30
 
-#define MPU9250_PUB_RATE 250
+#define MPU9250_PUB_RATE 280
 
 
 extern "C" { __EXPORT int df_mpu9250_wrapper_main(int argc, char *argv[]); }
@@ -165,8 +165,6 @@ private:
 	math::LowPassFilter2p	_gyro_filter_y;
 	math::LowPassFilter2p	_gyro_filter_z;
 
-	unsigned		    _publish_count;
-
 	perf_counter_t		    _read_counter;
 	perf_counter_t		    _error_counter;
 	perf_counter_t		    _fifo_overflow_counter;
@@ -205,7 +203,6 @@ DfMpu9250Wrapper::DfMpu9250Wrapper(bool mag_enabled, enum Rotation rotation) :
 	_gyro_filter_x(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
 	_gyro_filter_y(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
 	_gyro_filter_z(MPU9250_GYRO_DEFAULT_RATE, MPU9250_GYRO_DEFAULT_DRIVER_FILTER_FREQ),
-	_publish_count(0),
 	_read_counter(perf_alloc(PC_COUNT, "mpu9250_reads")),
 	_error_counter(perf_alloc(PC_COUNT, "mpu9250_errors")),
 	_fifo_overflow_counter(perf_alloc(PC_COUNT, "mpu9250_fifo_overflows")),
@@ -680,27 +677,19 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
 	matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
 	matrix::Vector3f gval_integrated;
 
-	_gyro_int.put(gyro_report.timestamp, gval, gval_integrated, gyro_report.integral_dt);
+	bool sensor_notify = _gyro_int.put(gyro_report.timestamp, gval, gval_integrated, gyro_report.integral_dt);
 	gyro_report.x_integral = gval_integrated(0);
 	gyro_report.y_integral = gval_integrated(1);
 	gyro_report.z_integral = gval_integrated(2);
 
-	// If we are not receiving the last sample from the FIFO buffer yet, let's stop here
-	// and wait for more packets.
-	if (!data.is_last_fifo_sample) {
+
+	// if gyro integrator did not return a sample we can return here
+	// Note: the accel integrator receives the same timestamp as the gyro integrator
+	// so we do not need to handle it seperately
+	if (!sensor_notify) {
 		return 0;
 	}
 
-	// The driver empties the FIFO buffer at 1kHz, however we only need to publish at 250Hz.
-	// Therefore, only publish every forth time.
-	++_publish_count;
-
-	if (_publish_count < 4) {
-		return 0;
-	}
-
-	_publish_count = 0;
-
 	// Update all the counters.
 	perf_set_count(_read_counter, data.read_counter);
 	perf_set_count(_error_counter, data.error_counter);
@@ -750,7 +739,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
 	}
 
 	// TODO: when is this ever blocked?
-	if (!(m_pub_blocked)) {
+	if (!(m_pub_blocked) && sensor_notify) {
 
 		if (_gyro_topic != nullptr) {
 			orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &gyro_report);