diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index b9337dc231d..26f7b1da306 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -2168,6 +2168,9 @@ Sensors::task_main()
 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_vcontrol_mode_sub, 200);
 
+	/* rate limit gyro to 250 Hz (the gyro signal is lowpassed accordingly earlier) */
+	orb_set_interval(_gyro_sub, 4);
+
 	/*
 	 * do advertisements
 	 */