diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 0df8813395..7289bd7a8e 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -1550,8 +1550,8 @@ int mavlink_thread_main(int argc, char *argv[])
 
 	/* all subscriptions are now active, set up initial guess about rate limits */
 	if (baudrate >= 921600) {
-		/* 500 Hz / 2 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 2);
+		/* 200 Hz / 5 ms */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
 		/* 200 Hz / 5 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 5);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 5);
@@ -1561,11 +1561,11 @@ int mavlink_thread_main(int argc, char *argv[])
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
 	} else if (baudrate >= 460800) {
 		/* 200 Hz / 5 ms */
-		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 10);
-		/* 100 Hz / 10 ms */
+		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
+		/* 50 Hz / 10 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SCALED_IMU, 20);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 20);
-		/* 20 Hz / 20 ms */
+		/* 20 Hz / 50 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
 		/* 2 Hz */
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index 217b05e9d0..963c54b8e5 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -696,6 +696,16 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 		gyro_report.y = (gyro_report.y_raw - _parameters.gyro_offset[1]) * 0.000266316109f;
 		gyro_report.z = (gyro_report.z_raw - _parameters.gyro_offset[2]) * 0.000266316109f;
 
+		raw.gyro_rad_s[0] = gyro_report.x;
+		raw.gyro_rad_s[1] = gyro_report.y;
+		raw.gyro_rad_s[2] = gyro_report.z;
+
+		raw.gyro_raw[0] = gyro_report.x_raw;
+		raw.gyro_raw[1] = gyro_report.y_raw;
+		raw.gyro_raw[2] = gyro_report.z_raw;
+
+		raw.gyro_counter++;
+
 	} else {
 
 		bool gyro_updated;