diff --git a/sw/airborne/boards/bebop/actuators.c b/sw/airborne/boards/bebop/actuators.c
index 526304f796..0f78c014c1 100644
--- a/sw/airborne/boards/bebop/actuators.c
+++ b/sw/airborne/boards/bebop/actuators.c
@@ -54,6 +54,8 @@ static void send_bebop_actuators(struct transport_tx *trans, struct link_device
 }
 #endif
 
+#define ACTUATORS_BEBOP_I2C_TIMEOUT 1.f
+
 uint32_t led_hw_values;
 struct ActuatorsBebop actuators_bebop;
 static uint8_t actuators_bebop_checksum(uint8_t *bytes, uint8_t size);
@@ -79,7 +81,7 @@ void actuators_bebop_commit(void)
 {
   // Receive the status
   actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_GET_OBS_DATA;
-  i2c_blocking_transceive(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, 13, 0.5);
+  i2c_blocking_transceive(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, 13, ACTUATORS_BEBOP_I2C_TIMEOUT);
 
   // Update status
   electrical.vsupply = (float)(actuators_bebop.i2c_trans.buf[9] + (actuators_bebop.i2c_trans.buf[8] << 8)) / 1000.f;
@@ -99,7 +101,7 @@ void actuators_bebop_commit(void)
   if (actuators_bebop.i2c_trans.buf[10] != 4 && actuators_bebop.i2c_trans.buf[10] != 2 && autopilot_get_motors_on()) {
     // Reset the error
     actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_CLEAR_ERROR;
-    i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, 0.5);
+    i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, ACTUATORS_BEBOP_I2C_TIMEOUT);
 
     // Start the motors
     actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_START_PROP;
@@ -109,12 +111,12 @@ void actuators_bebop_commit(void)
 #else
     actuators_bebop.i2c_trans.buf[1] = 0b00000101;
 #endif
-    i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 2, 0.5);
+    i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 2, ACTUATORS_BEBOP_I2C_TIMEOUT);
   }
   // Stop the motors
   else if (actuators_bebop.i2c_trans.buf[10] == 4 && !autopilot_get_motors_on()) {
     actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_STOP_PROP;
-    i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, 0.5);
+    i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 1, ACTUATORS_BEBOP_I2C_TIMEOUT);
   } else if (actuators_bebop.i2c_trans.buf[10] == 4 && autopilot_get_motors_on()) {
     // Send the commands
     actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_SET_REF_SPEED;
@@ -131,18 +133,18 @@ void actuators_bebop_commit(void)
 #pragma GCC diagnostic ignored "-Wcast-qual"
     actuators_bebop.i2c_trans.buf[10] = actuators_bebop_checksum((uint8_t *)actuators_bebop.i2c_trans.buf, 9);
 #pragma GCC diagnostic pop
-    i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 11, 0.5);
+    i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 11, ACTUATORS_BEBOP_I2C_TIMEOUT);
   }
 
   // Update the LEDs
   if (actuators_bebop.led != (led_hw_values & 0x3)) {
     actuators_bebop.i2c_trans.buf[0] = ACTUATORS_BEBOP_TOGGLE_GPIO;
     actuators_bebop.i2c_trans.buf[1] = (led_hw_values & 0x3);
-    i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 2, 0.5);
+    i2c_blocking_transmit(&i2c1, &actuators_bebop.i2c_trans, actuators_bebop.i2c_trans.slave_addr, 2, ACTUATORS_BEBOP_I2C_TIMEOUT);
 
     actuators_bebop.led = led_hw_values & 0x3;
   }
-  
+
   // Send ABI message
   struct act_feedback_t feedback[4];
   for (int i=0;i<4;i++) {
diff --git a/sw/airborne/boards/disco/actuators.c b/sw/airborne/boards/disco/actuators.c
index 1e973c4ab3..642979050a 100644
--- a/sw/airborne/boards/disco/actuators.c
+++ b/sw/airborne/boards/disco/actuators.c
@@ -45,6 +45,8 @@
 #warning "Disco actuators require a <servo name=MOTOR>"
 #endif
 
+#define ACTUATORS_DISCO_I2C_TIMEOUT 1.f
+
 /**
  * private observation structure
  */
@@ -119,7 +121,7 @@ void actuators_disco_commit(void)
 
   // Receive the status
   actuators_disco.i2c_trans.buf[0] = ACTUATORS_DISCO_GET_OBS_DATA;
-  i2c_blocking_transceive(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, sizeof(obs_data), 0.5);
+  i2c_blocking_transceive(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, sizeof(obs_data), ACTUATORS_DISCO_I2C_TIMEOUT);
   // copy data from buffer
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wcast-qual"
@@ -149,17 +151,17 @@ void actuators_disco_commit(void)
       actuators_disco.motor_rpm > DISCO_BLDC_START_MOTOR_THRESHOLD) {
     // Reset the error
     actuators_disco.i2c_trans.buf[0] = ACTUATORS_DISCO_CLEAR_ERROR;
-    i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, 0.5);
+    i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, ACTUATORS_DISCO_I2C_TIMEOUT);
 
     // Start the motors
     actuators_disco.i2c_trans.buf[0] = ACTUATORS_DISCO_START_PROP;
-    i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, 0.5);
+    i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, ACTUATORS_DISCO_I2C_TIMEOUT);
   }
   // Stop the motors
   else if ((bldc_status == DISCO_BLDC_STATUS_RUNNING || bldc_status == DISCO_BLDC_STATUS_RAMPUP) &&
       actuators_disco.motor_rpm < DISCO_BLDC_START_MOTOR_THRESHOLD) {
     actuators_disco.i2c_trans.buf[0] = ACTUATORS_DISCO_STOP_PROP;
-    i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, 0.5);
+    i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 1, ACTUATORS_DISCO_I2C_TIMEOUT);
   } else if (bldc_status == DISCO_BLDC_STATUS_RUNNING) {
     // Send the commands
     actuators_disco.i2c_trans.buf[0] = ACTUATORS_DISCO_SET_REF_SPEED;
@@ -170,7 +172,7 @@ void actuators_disco_commit(void)
 #pragma GCC diagnostic ignored "-Wcast-qual"
     actuators_disco.i2c_trans.buf[4] = actuators_disco_checksum((uint8_t *)actuators_disco.i2c_trans.buf, 3);
 #pragma GCC diagnostic pop
-    i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 11, 0.5);
+    i2c_blocking_transmit(&i2c1, &actuators_disco.i2c_trans, actuators_disco.i2c_trans.slave_addr, 11, ACTUATORS_DISCO_I2C_TIMEOUT);
   }
 
   // Send ABI message
diff --git a/sw/airborne/modules/imu/imu_bebop.c b/sw/airborne/modules/imu/imu_bebop.c
index 71a9c78fb8..138fb03fe3 100644
--- a/sw/airborne/modules/imu/imu_bebop.c
+++ b/sw/airborne/modules/imu/imu_bebop.c
@@ -50,7 +50,7 @@ PRINT_CONFIG_VAR(BEBOP_MPU_I2C_DEV)
 #define BEBOP_LOWPASS_FILTER MPU60X0_DLPF_42HZ
 #define BEBOP_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#elif PERIODIC_FREQUENCY == 512
+#elif (PERIODIC_FREQUENCY == 512) || (PERIODIC_FREQUENCY == 500)
 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
  * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
  */
diff --git a/sw/airborne/modules/imu/imu_disco.c b/sw/airborne/modules/imu/imu_disco.c
index 89b4125738..2e8e80f78c 100644
--- a/sw/airborne/modules/imu/imu_disco.c
+++ b/sw/airborne/modules/imu/imu_disco.c
@@ -49,7 +49,7 @@ PRINT_CONFIG_VAR(DISCO_MPU_I2C_DEV)
 #define DISCO_LOWPASS_FILTER MPU60X0_DLPF_42HZ
 #define DISCO_SMPLRT_DIV 9
 PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
-#elif PERIODIC_FREQUENCY == 512
+#elif (PERIODIC_FREQUENCY == 500) || (PERIODIC_FREQUENCY == 512)
 /* Accelerometer: Bandwidth 260Hz, Delay 0ms
  * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
  */