diff --git a/libraries/AP_HAL_PX4/Device.cpp b/libraries/AP_HAL_PX4/Device.cpp
index e15fef037a..e972e5c02f 100644
--- a/libraries/AP_HAL_PX4/Device.cpp
+++ b/libraries/AP_HAL_PX4/Device.cpp
@@ -133,4 +133,23 @@ AP_HAL::Device::PeriodicHandle DeviceBus::register_periodic_callback(uint32_t pe
     return callback;
 }
 
+/*
+ * Adjust the timer for the next call: it needs to be called from the bus
+ * thread, otherwise it will race with it
+ */
+bool DeviceBus::adjust_timer(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
+{
+    if (!pthread_equal(pthread_self(), thread_ctx)) {
+        fprintf(stderr, "can't adjust timer from unknown thread context\n");
+        return false;
+    }
+
+    DeviceBus::callback_info *callback = static_cast<DeviceBus::callback_info *>(h);
+
+    callback->period_usec = period_usec;
+    callback->next_usec = AP_HAL::micros64() + period_usec;
+
+    return true;
+}
+
 }
diff --git a/libraries/AP_HAL_PX4/Device.h b/libraries/AP_HAL_PX4/Device.h
index 8eeda33462..79be5a84ce 100644
--- a/libraries/AP_HAL_PX4/Device.h
+++ b/libraries/AP_HAL_PX4/Device.h
@@ -30,6 +30,7 @@ public:
     Semaphore semaphore;
 
     AP_HAL::Device::PeriodicHandle register_periodic_callback(uint32_t period_usec, AP_HAL::Device::PeriodicCb, AP_HAL::Device *hal_device);
+    bool adjust_timer(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec);
     static void *bus_thread(void *arg);
     
 private:
diff --git a/libraries/AP_HAL_PX4/I2CDevice.cpp b/libraries/AP_HAL_PX4/I2CDevice.cpp
index 606af46311..5dd8375aa4 100644
--- a/libraries/AP_HAL_PX4/I2CDevice.cpp
+++ b/libraries/AP_HAL_PX4/I2CDevice.cpp
@@ -150,9 +150,15 @@ AP_HAL::Device::PeriodicHandle I2CDevice::register_periodic_callback(uint32_t pe
 */
 bool I2CDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
 {
-    return false;
+    if (_busnum >= num_buses) {
+        return false;
+    }
+
+    struct DeviceBus &binfo = businfo[_busnum];
+
+    return binfo.adjust_timer(h, period_usec);
 }
-    
+
 AP_HAL::OwnPtr<AP_HAL::I2CDevice>
 I2CDeviceManager::get_device(uint8_t bus, uint8_t address)
 {
diff --git a/libraries/AP_HAL_PX4/SPIDevice.cpp b/libraries/AP_HAL_PX4/SPIDevice.cpp
index aba35f97d9..2329458cfa 100644
--- a/libraries/AP_HAL_PX4/SPIDevice.cpp
+++ b/libraries/AP_HAL_PX4/SPIDevice.cpp
@@ -239,7 +239,7 @@ AP_HAL::Device::PeriodicHandle SPIDevice::register_periodic_callback(uint32_t pe
 
 bool SPIDevice::adjust_periodic_callback(AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
 {
-    return false;
+    return bus.adjust_timer(h, period_usec);
 }
 
 /*