diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index 0033b83d01..c87ee06621 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -27,6 +27,7 @@
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
+#include <AP_Common/NMEA.h>
 #include <stdio.h>
 
 #if HAL_EXTERNAL_AHRS_ENABLED
@@ -34,6 +35,15 @@
 extern const AP_HAL::HAL &hal;
 HAL_Semaphore AP_ExternalAHRS::sem;
 
+/*
+  send requested config to the VN
+ */
+void AP_ExternalAHRS::send_config(void) const
+{
+    nmea_printf(uart, "$VNWRG,75,3,%u,35,0003,0F2C,0147,0613", unsigned(400/rate.get()));
+    nmea_printf(uart, "$VNWRG,76,3,80,4E,0002,0010,20B8,2018");
+}
+
 /*
   header for pre-configured 50Hz data
   assumes the following config for VN-300:
@@ -98,6 +108,10 @@ AP_ExternalAHRS::AP_ExternalAHRS()
 {
     AP_Param::setup_object_defaults(this, var_info);
     _singleton = this;
+    if (rate.get() < 50) {
+        // min 50Hz
+        rate.set(50);
+    }
 }
 
 #ifndef HAL_EXTERNAL_AHRS_DEFAULT
@@ -115,6 +129,13 @@ const AP_Param::GroupInfo AP_ExternalAHRS::var_info[] = {
     // @User: Standard
     AP_GROUPINFO_FLAGS("_TYPE", 1, AP_ExternalAHRS, devtype, HAL_EXTERNAL_AHRS_DEFAULT, AP_PARAM_FLAG_ENABLE),
 
+    // @Param: _RATE
+    // @DisplayName: AHRS data rate
+    // @Description: Requested rate for AHRS device
+    // @Units: Hz
+    // @User: Standard
+    AP_GROUPINFO("_RATE", 2, AP_ExternalAHRS, rate, 50),
+    
     AP_GROUPEND
 };
 
@@ -224,6 +245,7 @@ void AP_ExternalAHRS::update_thread()
         // open port in the thread
         port_opened = true;
         uart->begin(baudrate, 1024, 512);
+        send_config();
     }
 
     while (true) {
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index fe4936e992..83d8cba5bf 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -51,7 +51,7 @@ public:
 
     // fixed IMU rate for now
     float get_IMU_rate(void) const {
-        return 50;
+        return rate.get();
     }
 
     // get serial port number, -1 for not enabled
@@ -122,8 +122,10 @@ private:
 
     void process_packet1(const uint8_t *b);
     void process_packet2(const uint8_t *b);
+    void send_config(void) const;
 
     AP_Enum<DevType> devtype;
+    AP_Int16         rate;
 
     static AP_ExternalAHRS *_singleton;