diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 0ab770e75b..1e949dac21 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -139,11 +139,12 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
 	_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
-#ifdef CRAZYFLIE
+// #ifdef CRAZYFLIE
+// 	_sample_rate(250),
+// #else
+// 	_sample_rate(1000),
+// #endif
 	_sample_rate(250),
-#else
-	_sample_rate(1000),
-#endif
 	_accel_reads(perf_alloc(PC_COUNT, "mpu9250_acc_read")),
 	_gyro_reads(perf_alloc(PC_COUNT, "mpu9250_gyro_read")),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mpu9250_read")),
@@ -160,8 +161,8 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
 	_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),
-	_accel_int(1000000 / MPU9250_ACCEL_MAX_OUTPUT_RATE / 2),
-	_gyro_int(1000000 / MPU9250_GYRO_MAX_OUTPUT_RATE / 2, true),
+	_accel_int(1000000 / MPU9250_ACCEL_MAX_OUTPUT_RATE / 4),
+	_gyro_int(1000000 / MPU9250_GYRO_MAX_OUTPUT_RATE / 4, true),
 	_rotation(rotation),
 	_checked_next(0),
 	_last_temperature(0),
@@ -1161,7 +1162,7 @@ MPU9250::cycle()
 			   &_work,
 			   (worker_t)&MPU9250::cycle_trampoline,
 			   this,
-			   USEC2TICK(900));
+			   USEC2TICK(_call_interval - MPU9250_TIMER_REDUCTION));
 	}
 }
 #endif
diff --git a/src/drivers/imu/mpu9250/mpu9250.h b/src/drivers/imu/mpu9250/mpu9250.h
index 08f721bd7d..963db6ba21 100644
--- a/src/drivers/imu/mpu9250/mpu9250.h
+++ b/src/drivers/imu/mpu9250/mpu9250.h
@@ -182,11 +182,11 @@
 
 #define MPU9250_ACCEL_DEFAULT_RATE	1000
 // #ifdef CRAZYFLIE
-// #define MPU9250_ACCEL_MAX_OUTPUT_RATE			3*280
+// #define MPU9250_ACCEL_MAX_OUTPUT_RATE			4*280
 // #else
 // #define MPU9250_ACCEL_MAX_OUTPUT_RATE			280
 // #endif
-#define MPU9250_ACCEL_MAX_OUTPUT_RATE			280
+#define MPU9250_ACCEL_MAX_OUTPUT_RATE			280 	// remove this when using the previous #ifdef
 #define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
 #define MPU9250_GYRO_DEFAULT_RATE	1000
 /* rates need to be the same between accel and gyro */