diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
index 9fe653c755..1b2b176a8e 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
@@ -103,6 +103,22 @@ void VehicleAngularVelocity::CheckFilters()
 			if ((fabsf(_update_rate_hz - _filter_sample_rate) / _filter_sample_rate) > 0.01f) {
 				reset_filters = true;
 			}
+
+			if (reset_filters || (_required_sample_updates == 0)) {
+				if (_param_imu_gyro_rate_max.get() > 0) {
+					// determine number of sensor samples that will get closest to the desired rate
+					const float configured_interval_us = 1e6f / _param_imu_gyro_rate_max.get();
+					const uint8_t samples = math::constrain(roundf(configured_interval_us / sample_interval_avg), 1.f,
+										(float)sensor_gyro_s::ORB_QUEUE_LENGTH);
+
+					_sensor_sub[_selected_sensor_sub_index].set_required_updates(samples);
+					_required_sample_updates = samples;
+
+				} else {
+					_sensor_sub[_selected_sensor_sub_index].set_required_updates(1);
+					_required_sample_updates = 1;
+				}
+			}
 		}
 
 		if (!reset_filters) {
@@ -190,6 +206,7 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(bool force)
 
 						// reset sample interval accumulator on sensor change
 						_timestamp_sample_last = 0;
+						_required_sample_updates = 0;
 
 						return true;
 					}
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
index df524998d9..2b82281436 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
@@ -103,6 +103,8 @@ private:
 	static constexpr const float kInitialRateHz{1000.0f}; /**< sensor update rate used for initialization */
 	float _update_rate_hz{kInitialRateHz}; /**< current rate-controller loop update rate in [Hz] */
 
+	uint8_t _required_sample_updates{0}; /**< number or sensor publications required for configured rate */
+
 	// angular velocity filters
 	math::LowPassFilter2pVector3f _lp_filter_velocity{kInitialRateHz, 30.0f};
 	math::NotchFilter<matrix::Vector3f> _notch_filter_velocity{};