diff --git a/src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp b/src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp
index d4640f3f5e..20ba0ca010 100644
--- a/src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp
+++ b/src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp
@@ -67,7 +67,6 @@ enum class Register : uint8_t {
 
 	INT_STATUS    = 0x3A,
 
-	INT_PIN_CFG   = 0x37,
 	INT_ENABLE    = 0x38,
 
 	TEMP_OUT_H    = 0x41,
@@ -171,7 +170,6 @@ struct DATA {
 	uint8_t GYRO_ZOUT_H;
 	uint8_t GYRO_ZOUT_L;
 };
-static_assert(sizeof(DATA) == 12);
 }
 
 } // namespace InvenSense_MPU9250
diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250.cpp b/src/drivers/imu/invensense/mpu9250/MPU9250.cpp
index 421171458d..7a9e68ec8b 100644
--- a/src/drivers/imu/invensense/mpu9250/MPU9250.cpp
+++ b/src/drivers/imu/invensense/mpu9250/MPU9250.cpp
@@ -70,7 +70,6 @@ MPU9250::~MPU9250()
 		board_dma_free(_dma_data_buffer, FIFO::SIZE);
 	}
 
-	perf_free(_interval_perf);
 	perf_free(_transfer_perf);
 	perf_free(_fifo_empty_perf);
 	perf_free(_fifo_overflow_perf);
@@ -261,8 +260,6 @@ void MPU9250::Stop()
 
 void MPU9250::Run()
 {
-	perf_count(_interval_perf);
-
 	// use timestamp from the data ready interrupt if available,
 	//  otherwise use the time now roughly corresponding with the last sample we'll pull from the FIFO
 	const hrt_abstime timestamp_sample = (hrt_elapsed_time(&_time_data_ready) < FIFO_INTERVAL) ? _time_data_ready :
@@ -370,7 +367,6 @@ void MPU9250::Run()
 
 void MPU9250::PrintInfo()
 {
-	perf_print_counter(_interval_perf);
 	perf_print_counter(_transfer_perf);
 	perf_print_counter(_fifo_empty_perf);
 	perf_print_counter(_fifo_overflow_perf);
diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250.hpp b/src/drivers/imu/invensense/mpu9250/MPU9250.hpp
index 7cff14ceb4..408962bc97 100644
--- a/src/drivers/imu/invensense/mpu9250/MPU9250.hpp
+++ b/src/drivers/imu/invensense/mpu9250/MPU9250.hpp
@@ -84,7 +84,6 @@ private:
 	PX4Accelerometer _px4_accel;
 	PX4Gyroscope _px4_gyro;
 
-	perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": run interval")};
 	perf_counter_t _transfer_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": transfer")};
 	perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo empty")};
 	perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": fifo overflow")};