diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp
index 9188e99fb9..2ab475ac27 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp
@@ -59,6 +59,9 @@
 #define ACCEL_BACKEND_SAMPLE_RATE   1600
 #define GYRO_BACKEND_SAMPLE_RATE    2000
 
+const uint32_t ACCEL_BACKEND_PERIOD_US = 1000000UL / ACCEL_BACKEND_SAMPLE_RATE;
+const uint32_t GYRO_BACKEND_PERIOD_US = 1000000UL / GYRO_BACKEND_SAMPLE_RATE;
+
 extern const AP_HAL::HAL& hal;
 
 AP_InertialSensor_BMI088::AP_InertialSensor_BMI088(AP_InertialSensor &imu,
@@ -107,10 +110,10 @@ void AP_InertialSensor_BMI088::start()
     set_accel_orientation(accel_instance, rotation);
 
     // setup callbacks
-    dev_accel->register_periodic_callback(1000000UL / ACCEL_BACKEND_SAMPLE_RATE,
-                                          FUNCTOR_BIND_MEMBER(&AP_InertialSensor_BMI088::read_fifo_accel, void));
-    dev_gyro->register_periodic_callback(1000000UL / GYRO_BACKEND_SAMPLE_RATE,
-                                         FUNCTOR_BIND_MEMBER(&AP_InertialSensor_BMI088::read_fifo_gyro, void));
+    accel_periodic_handle = dev_accel->register_periodic_callback(ACCEL_BACKEND_PERIOD_US,
+                                                                  FUNCTOR_BIND_MEMBER(&AP_InertialSensor_BMI088::read_fifo_accel, void));
+    gyro_periodic_handle = dev_gyro->register_periodic_callback(GYRO_BACKEND_PERIOD_US,
+                                                                FUNCTOR_BIND_MEMBER(&AP_InertialSensor_BMI088::read_fifo_gyro, void));
 }
 
 /*
@@ -154,7 +157,8 @@ static const struct {
     uint8_t reg;
     uint8_t value;
 } accel_config[] = {
-    { REGA_CONF, 0xAC },
+    // OSR2 gives 234Hz LPF @ 1.6Khz ODR
+    { REGA_CONF, 0x9C },
     // setup 24g range (16g for BMI085)
     { REGA_RANGE, 0x03 },
     // disable low-power mode
@@ -254,8 +258,8 @@ bool AP_InertialSensor_BMI088::gyro_init()
         return false;
     }
 
-    // setup filter bandwidth 230Hz, no decimation
-    if (!dev_gyro->write_register(REGG_BW, 0x81, true)) {
+    // setup filter bandwidth 532Hz, no decimation
+    if (!dev_gyro->write_register(REGG_BW, 0x80, true)) {
         return false;
     }
 
@@ -314,11 +318,16 @@ void AP_InertialSensor_BMI088::read_fifo_accel(void)
         return;
     }
     
+    // adjust the periodic callback to be synchronous with the incoming data
+    // this means that we rarely run read_fifo_accel() without updating the sensor data
+    dev_accel->adjust_periodic_callback(accel_periodic_handle, ACCEL_BACKEND_PERIOD_US);
+
     uint8_t data[fifo_length];
     if (!read_accel_registers(REGA_FIFO_DATA, data, fifo_length)) {
         _inc_accel_error_count(accel_instance);
         return;
     }
+
     // use new accel_range depending on sensor type
     const float scale = (1.0/32768.0) * GRAVITY_MSS * accel_range;
     const uint8_t *p = &data[0];
@@ -407,6 +416,10 @@ void AP_InertialSensor_BMI088::read_fifo_gyro(void)
         goto check_next;
     }
 
+    // adjust the periodic callback to be synchronous with the incoming data
+    // this means that we rarely run read_fifo_gyro() without updating the sensor data
+    dev_gyro->adjust_periodic_callback(gyro_periodic_handle, GYRO_BACKEND_PERIOD_US);
+
     if (!dev_gyro->read_registers(REGG_FIFO_DATA, (uint8_t *)data, num_frames*6)) {
         _inc_gyro_error_count(gyro_instance);
         goto check_next;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.h b/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.h
index 51b2cdcabc..d8820529aa 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.h
@@ -75,7 +75,9 @@ private:
     bool setup_accel_config(void);
 
     AP_HAL::OwnPtr<AP_HAL::Device> dev_accel;
+    AP_HAL::Device::PeriodicHandle accel_periodic_handle;
     AP_HAL::OwnPtr<AP_HAL::Device> dev_gyro;
+    AP_HAL::Device::PeriodicHandle gyro_periodic_handle;
 
     uint8_t accel_instance;
     uint8_t gyro_instance;