diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 50a3381e07..2ed36591fb 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -139,11 +139,7 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
 	_gyro_range_scale(0.0f),
 	_gyro_range_rad_s(0.0f),
 	_dlpf_freq(MPU9250_DEFAULT_ONCHIP_FILTER_FREQ),
-#ifdef CONFIG_ARCH_BOARD_CRAZYFLIE
-	_sample_rate(200),
-#else
 	_sample_rate(1000),
-#endif
 	_accel_reads(perf_alloc(PC_COUNT, "mpu9250_acc_read")),
 	_gyro_reads(perf_alloc(PC_COUNT, "mpu9250_gyro_read")),
 	_sample_perf(perf_alloc(PC_ELAPSED, "mpu9250_read")),
@@ -264,6 +260,17 @@ MPU9250::init()
 	use_i2c(_interface->ioctl(MPUIOCGIS_I2C, dummy));
 #endif
 
+	/*
+	 * If the MPU is using I2C we should reduce the sample rate to 200Hz and
+	 * make the integration autoreset faster so that we integrate just one
+	 * sample since the sampling rate is already low.
+	*/
+	if (is_i2c()) {
+		_sample_rate = 200;
+		_accel_int.set_autoreset_interval(1000000 / MPU9250_ACCEL_MAX_OUTPUT_RATE / 4);
+		_gyro_int.set_autoreset_interval(1000000 / MPU9250_GYRO_MAX_OUTPUT_RATE / 4);
+	}
+
 	int ret = probe();
 
 	if (ret != OK) {
diff --git a/src/drivers/imu/mpu9250/mpu9250.h b/src/drivers/imu/mpu9250/mpu9250.h
index e82248a1e5..15f11927ae 100644
--- a/src/drivers/imu/mpu9250/mpu9250.h
+++ b/src/drivers/imu/mpu9250/mpu9250.h
@@ -181,11 +181,7 @@
 #define MPU_WHOAMI_6500			0x70
 
 #define MPU9250_ACCEL_DEFAULT_RATE	1000
-#ifdef CONFIG_ARCH_BOARD_CRAZYFLIE
-#define MPU9250_ACCEL_MAX_OUTPUT_RATE			1000
-#else
 #define MPU9250_ACCEL_MAX_OUTPUT_RATE			280
-#endif
 #define MPU9250_ACCEL_DEFAULT_DRIVER_FILTER_FREQ 30
 #define MPU9250_GYRO_DEFAULT_RATE	1000
 /* rates need to be the same between accel and gyro */
diff --git a/src/lib/drivers/device/integrator.h b/src/lib/drivers/device/integrator.h
index ecf1e649fa..30ef7a4f92 100644
--- a/src/lib/drivers/device/integrator.h
+++ b/src/lib/drivers/device/integrator.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2015-2016 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2015-2018 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -86,6 +86,7 @@ public:
 	 */
 	matrix::Vector3f	get(bool reset, uint64_t &integral_dt);
 
+
 	/**
 	 * Get the current integral and reset the integrator if needed. Additionally give the
 	 * integral over the samples differentiated by the integration time (mean filtered values).
@@ -97,6 +98,17 @@ public:
 	 */
 	matrix::Vector3f	get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f &filtered_val);
 
+
+	/**
+	 * Set auto reset interval during runtime. This won't reset the integrator.
+	 *
+	 * @param auto_reset_interval	    	New reset time interval for the integrator.
+	 */
+	void set_autoreset_interval(uint64_t auto_reset_interval)
+	{
+		_auto_reset_interval = auto_reset_interval;
+	}
+
 private:
 	uint64_t _auto_reset_interval;			/**< the interval after which the content will be published
 							     and the integrator reset, 0 if no auto-reset */