diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
index f62913071c..e103f6ee9d 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
@@ -894,7 +894,7 @@ void AP_InertialSensor_Invensense::_set_filter_register(void)
             _gyro_backend_rate_hz *= fast_sampling_rate;
 
             // calculate rate we will be giving accel samples to the backend
-            if (_mpu_type >= Invensense_MPU9250) {
+            if (_mpu_type >= Invensense_MPU6500) {
                 _accel_fifo_downsample_rate = MAX(4 / fast_sampling_rate, 1);
                 _accel_backend_rate_hz *= MIN(fast_sampling_rate, 4);
             } else {