diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
index f201017270..5a17fb4d61 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
@@ -476,8 +476,8 @@ bool AP_InertialSensor_LSM9DS0::_hardware_init()
     }
 
     // setup for register checking
-    _dev_gyro->setup_checked_registers(5);
-    _dev_accel->setup_checked_registers(4);
+    _dev_gyro->setup_checked_registers(5, 20);
+    _dev_accel->setup_checked_registers(4, 20);
         
     for (tries = 0; tries < 5; tries++) {
         _dev_gyro->set_speed(AP_HAL::Device::SPEED_LOW);
@@ -694,15 +694,12 @@ bool AP_InertialSensor_LSM9DS0::_poll_data()
         _read_data_transaction_a();
     }
 
-    if (_reg_check_counter++ == 10) {
-        _reg_check_counter = 0;
-        // check next register value for correctness
-        if (!_dev_gyro->check_next_register()) {
-            _inc_gyro_error_count(_gyro_instance);
-        }
-        if (!_dev_accel->check_next_register()) {
-            _inc_accel_error_count(_accel_instance);
-        }
+    // check next register value for correctness
+    if (!_dev_gyro->check_next_register()) {
+        _inc_gyro_error_count(_gyro_instance);
+    }
+    if (!_dev_accel->check_next_register()) {
+        _inc_accel_error_count(_accel_instance);
     }
     
     return true;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
index 038abc39d5..49373e1d93 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.h
@@ -103,6 +103,4 @@ private:
      */
     enum Rotation _rotation_a;
     enum Rotation _rotation_g;
-
-    uint8_t _reg_check_counter;
 };
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 2827134cbc..aae7ffb31c 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -669,14 +669,13 @@ void AP_InertialSensor_MPU6000::_read_fifo()
     }
     
 check_registers:
-    if (_reg_check_counter++ == 10) {
-        _reg_check_counter = 0;
-        // check next register value for correctness
-        if (!_dev->check_next_register()) {
-            _inc_gyro_error_count(_gyro_instance);
-            _inc_accel_error_count(_accel_instance);
-        }
+    // check next register value for correctness
+    _dev->set_speed(AP_HAL::Device::SPEED_LOW);
+    if (!_dev->check_next_register()) {
+        _inc_gyro_error_count(_gyro_instance);
+        _inc_accel_error_count(_accel_instance);
     }
+    _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
 }
 
 bool AP_InertialSensor_MPU6000::_block_read(uint8_t reg, uint8_t *buf,
@@ -766,7 +765,7 @@ bool AP_InertialSensor_MPU6000::_hardware_init(void)
     }
 
     // setup for register checking
-    _dev->setup_checked_registers(7);
+    _dev->setup_checked_registers(7, 20);
     
     // initially run the bus at low speed
     _dev->set_speed(AP_HAL::Device::SPEED_LOW);
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
index 65bcc5d260..07a4d55cfa 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
@@ -109,8 +109,6 @@ private:
     // buffer for fifo read
     uint8_t *_fifo_buffer;
 
-    uint8_t _reg_check_counter;
-
     /*
       accumulators for fast sampling
       See description in _accumulate_fast_sampling()
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index b02c2d39f9..c6385176e4 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -605,15 +605,13 @@ bool AP_InertialSensor_MPU9250::_read_sample()
     }
     
 check_registers:
-    if (_reg_check_counter++ == 10) {
-        _reg_check_counter = 0;
-        // check next register value for correctness
-        if (!_dev->check_next_register()) {
-            _inc_gyro_error_count(_gyro_instance);
-            _inc_accel_error_count(_accel_instance);
-        }
+    // check next register value for correctness
+    _dev->set_speed(AP_HAL::Device::SPEED_LOW);
+    if (!_dev->check_next_register()) {
+        _inc_gyro_error_count(_gyro_instance);
+        _inc_accel_error_count(_accel_instance);
     }
-    
+    _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
     return true;
 }
 
@@ -642,7 +640,7 @@ bool AP_InertialSensor_MPU9250::_hardware_init(void)
     }
 
     // setup for register checking
-    _dev->setup_checked_registers(6);
+    _dev->setup_checked_registers(6, 20);
 
     // initially run the bus at low speed
     _dev->set_speed(AP_HAL::Device::SPEED_LOW);
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
index 7e79d754c9..4dc1d2e9fc 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.h
@@ -97,8 +97,6 @@ private:
     // buffer for fifo read
     uint8_t *_fifo_buffer;
 
-    uint8_t _reg_check_counter;
-
     /*
       accumulators for fast sampling
       See description in _accumulate_fast_sampling()