diff --git a/boards/mro/x21-777/src/spi.cpp b/boards/mro/x21-777/src/spi.cpp
index 0837a2c927..450bd37e0a 100644
--- a/boards/mro/x21-777/src/spi.cpp
+++ b/boards/mro/x21-777/src/spi.cpp
@@ -38,7 +38,7 @@
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608G, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 	}),
diff --git a/boards/mro/x21/src/spi.cpp b/boards/mro/x21/src/spi.cpp
index 0837a2c927..450bd37e0a 100644
--- a/boards/mro/x21/src/spi.cpp
+++ b/boards/mro/x21/src/spi.cpp
@@ -38,7 +38,7 @@
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608G, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 	}),
diff --git a/boards/px4/fmu-v2/src/spi.cpp b/boards/px4/fmu-v2/src/spi.cpp
index ff1013c065..8196dee040 100644
--- a/boards/px4/fmu-v2/src/spi.cpp
+++ b/boards/px4/fmu-v2/src/spi.cpp
@@ -186,7 +186,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 
 	initSPIHWVersion(HW_VER_FMUV2MINI, {
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20608G, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
 			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 		}, {GPIO::PortE, GPIO::Pin3}),
 		initSPIBus(SPI::Bus::SPI2, {
diff --git a/boards/px4/fmu-v3/src/spi.cpp b/boards/px4/fmu-v3/src/spi.cpp
index ff1013c065..8196dee040 100644
--- a/boards/px4/fmu-v3/src/spi.cpp
+++ b/boards/px4/fmu-v3/src/spi.cpp
@@ -186,7 +186,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 
 	initSPIHWVersion(HW_VER_FMUV2MINI, {
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20608G, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
 			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 		}, {GPIO::PortE, GPIO::Pin3}),
 		initSPIBus(SPI::Bus::SPI2, {
diff --git a/boards/px4/fmu-v4/src/spi.cpp b/boards/px4/fmu-v4/src/spi.cpp
index ff3d9a9298..7500e4ab84 100644
--- a/boards/px4/fmu-v4/src/spi.cpp
+++ b/boards/px4/fmu-v4/src/spi.cpp
@@ -39,7 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608G, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
 		initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}), // hmc5983
 		initSPIDevice(DRV_MAG_DEVTYPE_LIS3MDL, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
 	}, {GPIO::PortE, GPIO::Pin3}),
diff --git a/boards/px4/fmu-v4pro/src/spi.cpp b/boards/px4/fmu-v4pro/src/spi.cpp
index 816c587cb0..2eaed39c0f 100644
--- a/boards/px4/fmu-v4pro/src/spi.cpp
+++ b/boards/px4/fmu-v4pro/src/spi.cpp
@@ -39,7 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608G, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
 		initSPIDevice(DRV_MAG_DEVTYPE_LIS3MDL, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 	}, {GPIO::PortE, GPIO::Pin3}),
diff --git a/boards/uvify/core/src/spi.cpp b/boards/uvify/core/src/spi.cpp
index 6c8c0f2cb2..47048ed43a 100644
--- a/boards/uvify/core/src/spi.cpp
+++ b/boards/uvify/core/src/spi.cpp
@@ -39,7 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20608G, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortC, GPIO::Pin14}),
 		initSPIDevice(DRV_MAG_DEVTYPE_HMC5883, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}), // hmc5983
 	}, {GPIO::PortE, GPIO::Pin3}),
 	initSPIBus(SPI::Bus::SPI2, {
diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h
index 5268bdec02..2c46240631 100644
--- a/src/drivers/drv_sensor.h
+++ b/src/drivers/drv_sensor.h
@@ -88,7 +88,7 @@
 #define DRV_ACC_DEVTYPE_ICM20602_LEGACY	0x37
 #define DRV_IMU_DEVTYPE_ICM20602 0x38
 #define DRV_ACC_DEVTYPE_ICM20608_LEGACY	0x39
-#define DRV_IMU_DEVTYPE_ICM20608 0x3A
+#define DRV_IMU_DEVTYPE_ICM20608G 0x3A
 #define DRV_ACC_DEVTYPE_ICM20689_LEGACY	0x3B
 #define DRV_IMU_DEVTYPE_ICM20689 0x3C
 #define DRV_BARO_DEVTYPE_MS5611		0x3D
diff --git a/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp b/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
index 0c5b565fd5..c182634fb3 100644
--- a/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
+++ b/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
@@ -45,13 +45,13 @@ ICM20608G::ICM20608G(I2CSPIBusOption bus_option, int bus, uint32_t device, enum
 	SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
 	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
 	_drdy_gpio(drdy_gpio),
-	_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
-	_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
+	_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
+	_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
 {
-	set_device_type(DRV_IMU_DEVTYPE_ICM20608);
+	set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
 
-	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
-	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
 
 	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
 }
@@ -131,7 +131,7 @@ void ICM20608G::RunImpl()
 		RegisterWrite(Register::PWR_MGMT_1, PWR_MGMT_1_BIT::DEVICE_RESET);
 		_reset_timestamp = hrt_absolute_time();
 		_state = STATE::WAIT_FOR_RESET;
-		ScheduleDelayed(100);
+		ScheduleDelayed(1_ms);
 		break;
 
 	case STATE::WAIT_FOR_RESET:
@@ -147,14 +147,14 @@ void ICM20608G::RunImpl()
 
 		} else {
 			// RESET not complete
-			if (hrt_elapsed_time(&_reset_timestamp) > 10_ms) {
-				PX4_ERR("Reset failed, retrying");
+			if (hrt_elapsed_time(&_reset_timestamp) > 100_ms) {
+				PX4_DEBUG("Reset failed, retrying");
 				_state = STATE::RESET;
-				ScheduleDelayed(10_ms);
+				ScheduleDelayed(100_ms);
 
 			} else {
-				PX4_DEBUG("Reset not complete, check again in 1 ms");
-				ScheduleDelayed(1_ms);
+				PX4_DEBUG("Reset not complete, check again in 10 ms");
+				ScheduleDelayed(10_ms);
 			}
 		}
 
@@ -180,8 +180,8 @@ void ICM20608G::RunImpl()
 
 		} else {
 			PX4_DEBUG("Configure failed, retrying");
-			// try again in 1 ms
-			ScheduleDelayed(1_ms);
+			// try again in 10 ms
+			ScheduleDelayed(10_ms);
 		}
 
 		break;
@@ -195,7 +195,14 @@ void ICM20608G::RunImpl()
 				ScheduleDelayed(10_ms);
 
 				// timestamp set in data ready interrupt
-				samples = _fifo_read_samples.load();
+				if (!_force_fifo_count_check) {
+					samples = _fifo_read_samples.load();
+
+				} else {
+					const uint16_t fifo_count = FIFOReadCount();
+					samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) * SAMPLES_PER_TRANSFER; // round down to nearest
+				}
+
 				timestamp_sample = _fifo_watermark_interrupt_timestamp;
 			}
 
@@ -208,13 +215,7 @@ void ICM20608G::RunImpl()
 				// use the time now roughly corresponding with the last sample we'll pull from the FIFO
 				timestamp_sample = hrt_absolute_time();
 				const uint16_t fifo_count = FIFOReadCount();
-
-				if (fifo_count == 0) {
-					failure = true;
-					perf_count(_fifo_empty_perf);
-				}
-
-				samples = (fifo_count / sizeof(FIFO::DATA) / 2) * 2; // round down to nearest 2
+				samples = (fifo_count / sizeof(FIFO::DATA) / SAMPLES_PER_TRANSFER) * SAMPLES_PER_TRANSFER; // round down to nearest
 			}
 
 			if (samples > FIFO_MAX_SAMPLES) {
@@ -223,13 +224,17 @@ void ICM20608G::RunImpl()
 				failure = true;
 				FIFOReset();
 
-			} else if (samples >= 2) {
-				// require at least 2 samples (we want at least 1 new accel sample per transfer)
+			} else if (samples >= SAMPLES_PER_TRANSFER) {
+				// require at least SAMPLES_PER_TRANSFER (we want at least 1 new accel sample per transfer)
 				if (!FIFORead(timestamp_sample, samples)) {
 					failure = true;
 					_px4_accel.increase_error_count();
 					_px4_gyro.increase_error_count();
 				}
+
+			} else if (samples == 0) {
+				failure = true;
+				perf_count(_fifo_empty_perf);
 			}
 
 			if (failure || hrt_elapsed_time(&_last_config_check_timestamp) > 10_ms) {
@@ -264,22 +269,22 @@ void ICM20608G::ConfigureAccel()
 
 	switch (ACCEL_FS_SEL) {
 	case ACCEL_FS_SEL_2G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384);
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 16384.f);
 		_px4_accel.set_range(2 * CONSTANTS_ONE_G);
 		break;
 
 	case ACCEL_FS_SEL_4G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192);
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f);
 		_px4_accel.set_range(4 * CONSTANTS_ONE_G);
 		break;
 
 	case ACCEL_FS_SEL_8G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096);
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 4096.f);
 		_px4_accel.set_range(8 * CONSTANTS_ONE_G);
 		break;
 
 	case ACCEL_FS_SEL_16G:
-		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048);
+		_px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f);
 		_px4_accel.set_range(16 * CONSTANTS_ONE_G);
 		break;
 	}
@@ -291,23 +296,23 @@ void ICM20608G::ConfigureGyro()
 
 	switch (FS_SEL) {
 	case FS_SEL_250_DPS:
-		_px4_gyro.set_scale(math::radians(1.0f / 131.f));
+		_px4_gyro.set_scale(math::radians(1.f / 131.f));
 		_px4_gyro.set_range(math::radians(250.f));
 		break;
 
 	case FS_SEL_500_DPS:
-		_px4_gyro.set_scale(math::radians(1.0f / 65.5f));
+		_px4_gyro.set_scale(math::radians(1.f / 65.5f));
 		_px4_gyro.set_range(math::radians(500.f));
 		break;
 
 	case FS_SEL_1000_DPS:
-		_px4_gyro.set_scale(math::radians(1.0f / 32.8f));
-		_px4_gyro.set_range(math::radians(1000.0f));
+		_px4_gyro.set_scale(math::radians(1.f / 32.8f));
+		_px4_gyro.set_range(math::radians(1000.f));
 		break;
 
 	case FS_SEL_2000_DPS:
-		_px4_gyro.set_scale(math::radians(1.0f / 16.4f));
-		_px4_gyro.set_range(math::radians(2000.0f));
+		_px4_gyro.set_scale(math::radians(1.f / 16.4f));
+		_px4_gyro.set_range(math::radians(2000.f));
 		break;
 	}
 }
@@ -318,16 +323,19 @@ void ICM20608G::ConfigureSampleRate(int sample_rate)
 		sample_rate = 1000; // default to 1 kHz
 	}
 
-	_fifo_empty_interval_us = math::max(((1000000 / sample_rate) / 250) * 250, 250); // round down to nearest 250 us
-	_fifo_gyro_samples = math::min(_fifo_empty_interval_us / (1000000 / GYRO_RATE), FIFO_MAX_SAMPLES);
+	// round down to nearest FIFO sample dt * SAMPLES_PER_TRANSFER
+	const float min_interval = SAMPLES_PER_TRANSFER * FIFO_SAMPLE_DT;
+	_fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval);
+
+	_fifo_gyro_samples = math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES);
 
 	// recompute FIFO empty interval (us) with actual gyro sample limit
-	_fifo_empty_interval_us = _fifo_gyro_samples * (1000000 / GYRO_RATE);
+	_fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE);
 
-	_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1000000 / ACCEL_RATE), FIFO_MAX_SAMPLES);
+	_fifo_accel_samples = math::min(_fifo_empty_interval_us / (1e6f / ACCEL_RATE), (float)FIFO_MAX_SAMPLES);
 
-	_px4_accel.set_update_rate(1000000 / _fifo_empty_interval_us);
-	_px4_gyro.set_update_rate(1000000 / _fifo_empty_interval_us);
+	_px4_accel.set_update_rate(1e6f / _fifo_empty_interval_us);
+	_px4_gyro.set_update_rate(1e6f / _fifo_empty_interval_us);
 }
 
 bool ICM20608G::Configure()
@@ -354,14 +362,14 @@ int ICM20608G::DataReadyInterruptCallback(int irq, void *context, void *arg)
 
 void ICM20608G::DataReady()
 {
+	perf_count(_drdy_interval_perf);
+
 	if (_data_ready_count.fetch_add(1) >= (_fifo_gyro_samples - 1)) {
 		_data_ready_count.store(0);
 		_fifo_watermark_interrupt_timestamp = hrt_absolute_time();
 		_fifo_read_samples.store(_fifo_gyro_samples);
 		ScheduleNow();
 	}
-
-	perf_count(_drdy_interval_perf);
 }
 
 bool ICM20608G::DataReadyInterruptConfigure()
@@ -370,8 +378,8 @@ bool ICM20608G::DataReadyInterruptConfigure()
 		return false;
 	}
 
-	// Setup data ready on rising edge
-	return px4_arch_gpiosetevent(_drdy_gpio, true, false, true, &ICM20608G::DataReadyInterruptCallback, this) == 0;
+	// Setup data ready on falling edge
+	return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &ICM20608G::DataReadyInterruptCallback, this) == 0;
 }
 
 bool ICM20608G::DataReadyInterruptDisable()
@@ -389,12 +397,12 @@ bool ICM20608G::RegisterCheck(const register_config_t &reg_cfg, bool notify)
 
 	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
 
-	if (reg_cfg.set_bits && !(reg_value & reg_cfg.set_bits)) {
+	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
 		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
 		success = false;
 	}
 
-	if (reg_cfg.clear_bits && (reg_value & reg_cfg.clear_bits)) {
+	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
 		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
 		success = false;
 	}
@@ -402,13 +410,6 @@ bool ICM20608G::RegisterCheck(const register_config_t &reg_cfg, bool notify)
 	if (!success) {
 		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
 
-		if (reg_cfg.reg == Register::ACCEL_CONFIG) {
-			ConfigureAccel();
-
-		} else if (reg_cfg.reg == Register::GYRO_CONFIG) {
-			ConfigureGyro();
-		}
-
 		if (notify) {
 			perf_count(_bad_register_perf);
 			_px4_accel.increase_error_count();
@@ -449,16 +450,6 @@ void ICM20608G::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t c
 	RegisterWrite(reg, val);
 }
 
-void ICM20608G::RegisterSetBits(Register reg, uint8_t setbits)
-{
-	RegisterSetAndClearBits(reg, setbits, 0);
-}
-
-void ICM20608G::RegisterClearBits(Register reg, uint8_t clearbits)
-{
-	RegisterSetAndClearBits(reg, 0, clearbits);
-}
-
 uint16_t ICM20608G::FIFOReadCount()
 {
 	// read FIFO count
@@ -477,7 +468,7 @@ bool ICM20608G::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
 {
 	perf_begin(_transfer_perf);
 	FIFOTransferBuffer buffer{};
-	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 1, FIFO::SIZE);
+	const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 3, FIFO::SIZE);
 
 	if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) {
 		perf_end(_transfer_perf);
@@ -487,8 +478,41 @@ bool ICM20608G::FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples)
 
 	perf_end(_transfer_perf);
 
-	ProcessGyro(timestamp_sample, buffer, samples);
-	return ProcessAccel(timestamp_sample, buffer, samples);
+	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+	const uint16_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
+
+	if (fifo_count_samples == 0) {
+		perf_count(_fifo_empty_perf);
+		return false;
+	}
+
+	if (fifo_count_bytes >= FIFO::SIZE) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint16_t valid_samples = math::min(samples, fifo_count_samples);
+
+	if (fifo_count_samples < samples) {
+		// force check if there is somehow fewer samples actually in the FIFO (potentially a serious error)
+		_force_fifo_count_check = true;
+
+	} else if (fifo_count_samples > samples + 4) {
+		// if we're more than a few samples behind force FIFO_COUNT check
+		_force_fifo_count_check = true;
+
+	} else {
+		// skip earlier FIFO_COUNT and trust DRDY count if we're in sync
+		_force_fifo_count_check = false;
+	}
+
+	if (valid_samples > 0) {
+		ProcessGyro(timestamp_sample, buffer, valid_samples);
+		return ProcessAccel(timestamp_sample, buffer, valid_samples);
+	}
+
+	return false;
 }
 
 void ICM20608G::FIFOReset()
@@ -498,9 +522,8 @@ void ICM20608G::FIFOReset()
 	// FIFO_EN: disable FIFO
 	RegisterWrite(Register::FIFO_EN, 0);
 
-	// USER_CTRL: disable FIFO and reset all signal paths
-	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST | USER_CTRL_BIT::SIG_COND_RST,
-				USER_CTRL_BIT::FIFO_EN);
+	// USER_CTRL: reset FIFO
+	RegisterSetAndClearBits(Register::USER_CTRL, USER_CTRL_BIT::FIFO_RST, USER_CTRL_BIT::FIFO_EN);
 
 	// reset while FIFO is disabled
 	_data_ready_count.store(0);
@@ -521,7 +544,8 @@ static bool fifo_accel_equal(const FIFO::DATA &f0, const FIFO::DATA &f1)
 	return (memcmp(&f0.ACCEL_XOUT_H, &f1.ACCEL_XOUT_H, 6) == 0);
 }
 
-bool ICM20608G::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, uint8_t samples)
+bool ICM20608G::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer,
+			     const uint8_t samples)
 {
 	PX4Accelerometer::FIFOSample accel;
 	accel.timestamp_sample = timestamp_sample;
@@ -532,8 +556,8 @@ bool ICM20608G::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTran
 	// accel data is doubled in FIFO, but might be shifted
 	int accel_first_sample = 1;
 
-	if (samples >= 3) {
-		if (fifo_accel_equal(buffer.f[0], buffer.f[1])) {
+	if (samples >= 4) {
+		if (fifo_accel_equal(buffer.f[0], buffer.f[1]) && fifo_accel_equal(buffer.f[2], buffer.f[3])) {
 			// [A0, A1, A2, A3]
 			//  A0==A1, A2==A3
 			accel_first_sample = 1;
@@ -572,7 +596,8 @@ bool ICM20608G::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTran
 	return !bad_data;
 }
 
-void ICM20608G::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, uint8_t samples)
+void ICM20608G::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer,
+			    const uint8_t samples)
 {
 	PX4Gyroscope::FIFOSample gyro;
 	gyro.timestamp_sample = timestamp_sample;
diff --git a/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp b/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp
index e3cd8eda03..c920a37d3e 100644
--- a/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp
+++ b/src/drivers/imu/invensense/icm20608g/ICM20608G.hpp
@@ -76,19 +76,23 @@ protected:
 	void custom_method(const BusCLIArguments &cli) override;
 	void exit_and_cleanup() override;
 private:
-
 	// Sensor Configuration
-	static constexpr uint32_t GYRO_RATE{8000};  // 8 kHz gyro
-	static constexpr uint32_t ACCEL_RATE{4000}; // 4 kHz accel
-	static constexpr uint32_t FIFO_MAX_SAMPLES{ math::min(FIFO::SIZE / sizeof(FIFO::DATA) + 1, sizeof(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
+	static constexpr float FIFO_SAMPLE_DT{125.f};
+	static constexpr uint32_t SAMPLES_PER_TRANSFER{2};       // ensure at least 1 new accel sample per transfer
+	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(PX4Gyroscope::FIFOSample::x) / sizeof(PX4Gyroscope::FIFOSample::x[0]))};
 
 	// Transfer data
 	struct FIFOTransferBuffer {
-		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_R_W) | DIR_READ};
+		uint8_t cmd{static_cast<uint8_t>(Register::FIFO_COUNTH) | DIR_READ};
+		uint8_t FIFO_COUNTH{0};
+		uint8_t FIFO_COUNTL{0};
 		FIFO::DATA f[FIFO_MAX_SAMPLES] {};
 	};
 	// ensure no struct padding
-	static_assert(sizeof(FIFOTransferBuffer) == (sizeof(uint8_t) + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
+	static_assert(sizeof(FIFOTransferBuffer) == (3 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)));
 
 	struct register_config_t {
 		Register reg;
@@ -113,15 +117,15 @@ private:
 	uint8_t RegisterRead(Register reg);
 	void RegisterWrite(Register reg, uint8_t value);
 	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
-	void RegisterSetBits(Register reg, uint8_t setbits);
-	void RegisterClearBits(Register reg, uint8_t clearbits);
+	void RegisterSetBits(Register reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); }
+	void RegisterClearBits(Register reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); }
 
 	uint16_t FIFOReadCount();
 	bool FIFORead(const hrt_abstime &timestamp_sample, uint16_t samples);
 	void FIFOReset();
 
-	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, uint8_t samples);
-	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, uint8_t samples);
+	bool ProcessAccel(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples);
+	void ProcessGyro(const hrt_abstime &timestamp_sample, const FIFOTransferBuffer &buffer, const uint8_t samples);
 	void UpdateTemperature();
 
 	const spi_drdy_gpio_t _drdy_gpio;
@@ -145,7 +149,7 @@ private:
 	px4::atomic<uint8_t> _data_ready_count{0};
 	px4::atomic<uint8_t> _fifo_read_samples{0};
 	bool _data_ready_interrupt_enabled{false};
-	uint8_t _checked_register{0};
+	bool _force_fifo_count_check{true};
 
 	enum class STATE : uint8_t {
 		RESET,
@@ -156,20 +160,22 @@ private:
 
 	STATE _state{STATE::RESET};
 
-	uint16_t _fifo_empty_interval_us{1000}; // 1000 us / 1000 Hz transfer interval
+	uint16_t _fifo_empty_interval_us{1000}; // default 1000 us / 1000 Hz transfer interval
 	uint8_t _fifo_gyro_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};
 	uint8_t _fifo_accel_samples{static_cast<uint8_t>(_fifo_empty_interval_us / (1000000 / ACCEL_RATE))};
 
-	static constexpr uint8_t size_register_cfg{11};
+	uint8_t _checked_register{0};
+	static constexpr uint8_t size_register_cfg{9};
 	register_config_t _register_cfg[size_register_cfg] {
 		// Register               | Set bits, Clear bits
 		{ Register::PWR_MGMT_1,    PWR_MGMT_1_BIT::CLKSEL_0, PWR_MGMT_1_BIT::DEVICE_RESET | PWR_MGMT_1_BIT::SLEEP },
 		{ Register::ACCEL_CONFIG,  ACCEL_CONFIG_BIT::ACCEL_FS_SEL_16G, 0 },
 		{ Register::ACCEL_CONFIG2, ACCEL_CONFIG2_BIT::ACCEL_FCHOICE_B_BYPASS_DLPF, 0 },
 		{ Register::GYRO_CONFIG,   GYRO_CONFIG_BIT::FS_SEL_2000_DPS, GYRO_CONFIG_BIT::FCHOICE_B_8KHZ_BYPASS_DLPF },
-		{ Register::CONFIG,        CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ, Bit7 | CONFIG_BIT::FIFO_MODE },
+		{ Register::CONFIG,        CONFIG_BIT::FIFO_MODE | CONFIG_BIT::DLPF_CFG_BYPASS_DLPF_8KHZ, 0 },
 		{ Register::USER_CTRL,     USER_CTRL_BIT::FIFO_EN | USER_CTRL_BIT::I2C_IF_DIS, USER_CTRL_BIT::FIFO_RST | USER_CTRL_BIT::SIG_COND_RST },
 		{ Register::FIFO_EN,       FIFO_EN_BIT::XG_FIFO_EN | FIFO_EN_BIT::YG_FIFO_EN | FIFO_EN_BIT::ZG_FIFO_EN | FIFO_EN_BIT::ACCEL_FIFO_EN, FIFO_EN_BIT::TEMP_FIFO_EN },
+		{ Register::INT_PIN_CFG,   INT_PIN_CFG_BIT::INT_LEVEL, 0 },
 		{ Register::INT_ENABLE,    INT_ENABLE_BIT::DATA_RDY_INT_EN, 0 }
 	};
 };
diff --git a/src/drivers/imu/invensense/icm20608g/InvenSense_ICM20608G_registers.hpp b/src/drivers/imu/invensense/icm20608g/InvenSense_ICM20608G_registers.hpp
index aabf112f00..ffd156a5c0 100644
--- a/src/drivers/imu/invensense/icm20608g/InvenSense_ICM20608G_registers.hpp
+++ b/src/drivers/imu/invensense/icm20608g/InvenSense_ICM20608G_registers.hpp
@@ -70,6 +70,7 @@ enum class Register : uint8_t {
 
 	FIFO_EN       = 0x23,
 
+	INT_PIN_CFG   = 0x37,
 	INT_ENABLE    = 0x38,
 
 	TEMP_OUT_H    = 0x41,
@@ -126,9 +127,13 @@ enum FIFO_EN_BIT : uint8_t {
 	ACCEL_FIFO_EN = Bit3,
 };
 
+// INT_PIN_CFG
+enum INT_PIN_CFG_BIT : uint8_t {
+	INT_LEVEL = Bit7,
+};
+
 // INT_ENABLE
 enum INT_ENABLE_BIT : uint8_t {
-	FIFO_OFLOW_EN   = Bit4,
 	DATA_RDY_INT_EN = Bit0
 };
 
diff --git a/src/drivers/imu/invensense/icm20608g/icm20608g_main.cpp b/src/drivers/imu/invensense/icm20608g/icm20608g_main.cpp
index 426b8dd3ef..5f321e2c6c 100644
--- a/src/drivers/imu/invensense/icm20608g/icm20608g_main.cpp
+++ b/src/drivers/imu/invensense/icm20608g/icm20608g_main.cpp
@@ -94,7 +94,7 @@ extern "C" int icm20608g_main(int argc, char *argv[])
 		return -1;
 	}
 
-	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM20608);
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM20608G);
 
 	if (!strcmp(verb, "start")) {
 		return ThisDriver::module_start(cli, iterator);
diff --git a/src/drivers/imu/mpu6000/MPU6000.cpp b/src/drivers/imu/mpu6000/MPU6000.cpp
index 0ad22a695b..49100394f2 100644
--- a/src/drivers/imu/mpu6000/MPU6000.cpp
+++ b/src/drivers/imu/mpu6000/MPU6000.cpp
@@ -65,8 +65,8 @@ MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_t
 		break;
 
 	case MPU_DEVICE_TYPE_ICM20608:
-		_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
-		_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
+		_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
+		_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
 		break;
 
 	case MPU_DEVICE_TYPE_ICM20689:
diff --git a/src/drivers/imu/mpu6000/mpu6000_main.cpp b/src/drivers/imu/mpu6000/mpu6000_main.cpp
index fe7c6f3728..adde91207f 100644
--- a/src/drivers/imu/mpu6000/mpu6000_main.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000_main.cpp
@@ -162,7 +162,7 @@ mpu6000_main(int argc, char *argv[])
 		break;
 
 	case MPU_DEVICE_TYPE_ICM20608:
-		dev_type_driver = DRV_IMU_DEVTYPE_ICM20608;
+		dev_type_driver = DRV_IMU_DEVTYPE_ICM20608G;
 		break;
 
 	case MPU_DEVICE_TYPE_ICM20689:
diff --git a/src/lib/parameters/param_translation.cpp b/src/lib/parameters/param_translation.cpp
index f0a58f4c80..929491b893 100644
--- a/src/lib/parameters/param_translation.cpp
+++ b/src/lib/parameters/param_translation.cpp
@@ -127,7 +127,7 @@ bool param_modify_on_import(const char *name, bson_type_t type, void *value)
 	}
 
 	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20608_LEGACY) {
-		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20608;
+		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20608G;
 	}
 
 	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20689_LEGACY) {