diff --git a/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp b/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
index c8e9aa51d3..07464e3911 100644
--- a/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
+++ b/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
@@ -73,7 +73,7 @@ private:
 	void exit_and_cleanup() override;
 
 	// Sensor Configuration
-	static constexpr float FIFO_SAMPLE_DT{1e6f / 16000.f};     // 16000 Hz accel & gyro ODR configured
+	static constexpr float FIFO_SAMPLE_DT{1e6f / 8000.f};     // 8000 Hz accel & gyro ODR configured
 	static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT};
 	static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT};
 
@@ -181,8 +181,8 @@ private:
 		{ Register::BANK_0::INT_CONFIG,           INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
 		{ Register::BANK_0::FIFO_CONFIG,          FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
 		{ Register::BANK_0::PWR_MGMT0,            PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 },
-		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_ODR_16kHz, Bit3 | Bit2 | Bit0 },
-		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_ODR_16kHz, Bit3 | Bit2 | Bit0 },
+		{ Register::BANK_0::GYRO_CONFIG0,         GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR },
+		{ Register::BANK_0::ACCEL_CONFIG0,        ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR },
 		{ Register::BANK_0::GYRO_CONFIG1,         0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD },
 		{ Register::BANK_0::GYRO_ACCEL_CONFIG0,   0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW },
 		{ Register::BANK_0::ACCEL_CONFIG1,        0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD },
diff --git a/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp b/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp
index 29c6632144..fe54ce8c80 100644
--- a/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp
+++ b/src/drivers/imu/invensense/icm42688p/InvenSense_ICM42688P_registers.hpp
@@ -159,29 +159,41 @@ enum PWR_MGMT0_BIT : uint8_t {
 // GYRO_CONFIG0
 enum GYRO_CONFIG0_BIT : uint8_t {
 	// 7:5 GYRO_FS_SEL
-	GYRO_FS_SEL_2000_DPS = 0,            // 0b000 = ±2000dps (default)
+	GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default)
 
 	// 3:0 GYRO_ODR
-	GYRO_ODR_32kHz       = Bit0,         // 0001: 32kHz
-	GYRO_ODR_16kHz       = Bit1,         // 0010: 16kHz
-	GYRO_ODR_8kHz        = Bit1 | Bit0,  // 0011: 8kHz
-	GYRO_ODR_4kHz        = Bit2,         // 0100: 4kHz
-	GYRO_ODR_2kHz        = Bit2 | Bit0,  // 0101: 2kHz
-	GYRO_ODR_1kHz        = Bit2 | Bit1,  // 0110: 1kHz (default)
+	//  0001: 32kHz
+	GYRO_ODR_32KHZ_SET   = Bit0,
+	GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0010: 16kHz
+	GYRO_ODR_16KHZ_SET   = Bit1,
+	GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0011: 8kHz
+	GYRO_ODR_8KHZ_SET    = Bit1 | Bit0,
+	GYRO_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
+	//  0110: 1kHz (default)
+	GYRO_ODR_1KHZ_SET    = Bit2 | Bit1,
+	GYRO_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
 };
 
 // ACCEL_CONFIG0
 enum ACCEL_CONFIG0_BIT : uint8_t {
 	// 7:5 ACCEL_FS_SEL
-	ACCEL_FS_SEL_16G = 0,           // 000: ±16g (default)
+	ACCEL_FS_SEL_16G = 0, // 000: ±16g (default)
 
 	// 3:0 ACCEL_ODR
-	ACCEL_ODR_32kHz  = Bit0,        // 0001: 32kHz
-	ACCEL_ODR_16kHz  = Bit1,        // 0010: 16kHz
-	ACCEL_ODR_8kHz   = Bit1 | Bit0, // 0011: 8kHz
-	ACCEL_ODR_4kHz   = Bit2,        // 0100: 4kHz
-	ACCEL_ODR_2kHz   = Bit2 | Bit0, // 0101: 2kHz
-	ACCEL_ODR_1kHz   = Bit2 | Bit1, // 0110: 1kHz (default)
+	//  0001: 32kHz
+	ACCEL_ODR_32KHZ_SET   = Bit0,
+	ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0010: 16kHz
+	ACCEL_ODR_16KHZ_SET   = Bit1,
+	ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0,
+	//  0011: 8kHz
+	ACCEL_ODR_8KHZ_SET    = Bit1 | Bit0,
+	ACCEL_ODR_8KHZ_CLEAR  = Bit3 | Bit2,
+	//  0110: 1kHz (default)
+	ACCEL_ODR_1KHZ_SET    = Bit2 | Bit1,
+	ACCEL_ODR_1KHZ_CLEAR  = Bit3 | Bit0,
 };
 
 // GYRO_CONFIG1