diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index c479d844122..2be2ac6f254 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -739,6 +739,7 @@ public:
             void reset(float temperature);
             float start_temp;
             float start_tmax;
+            uint32_t last_save_ms;
 
             TCal &tcal;
             uint8_t instance(void) const {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
index f58cdd6158e..c88f5f4ccc1 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.cpp
@@ -739,9 +739,10 @@ void AP_InertialSensor_LSM9DS0::_read_data_transaction_a()
     _notify_new_accel_raw_sample(_accel_instance, accel_data, AP_HAL::micros64());
 
     // read temperature every 10th sample
-    if (_temp_counter++ % 10 == 0) {
+    if (_temp_counter == 10) {
         int16_t traw;
         const uint8_t regtemp = OUT_TEMP_L_XM | 0xC0;
+        _temp_counter = 0;
         if (_dev_accel->transfer(&regtemp, 1, (uint8_t *)&traw, sizeof(traw))) {
             _temperature = _temp_filter.apply(traw * 0.125 + 25);
         }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
index b8cc10802ff..beabfea343e 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
@@ -63,7 +63,7 @@ const AP_Param::GroupInfo AP_InertialSensor::TCal::var_info[] = {
 
     // @Param: TMAX
     // @DisplayName: Temperature calibration max
-    // @Description: The maximum temperature that the calibration is valid for
+    // @Description: The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
     // @Range: -70 80
     // @Units: degC
     // @User: Advanced
@@ -326,9 +326,10 @@ void AP_InertialSensor::TCal::Learn::add_sample(const Vector3f &sample, float te
         if (temperature >= start_tmax) {
             // we've reached the target temperature
             finish_calibration(temperature);
-        } else {
+        } else if (now - last_save_ms > 15000) {
             // save partial calibration, so if user stops the cal part
             // way then they still have a useful calibration
+            last_save_ms = now;
             save_calibration(st.last_temp);
         }
     }