diff --git a/conf/airframes/esden/cocto_lm2a2.xml b/conf/airframes/esden/cocto_lm2a2.xml
index 144f12eb18..6d77ad1dcb 100644
--- a/conf/airframes/esden/cocto_lm2a2.xml
+++ b/conf/airframes/esden/cocto_lm2a2.xml
@@ -223,12 +223,10 @@ B2L -> CW
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <subsystem name="radio_control" type="spektrum">
-	<define name="RADIO_MODE" value="RADIO_FLAP"/>
-	<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-	<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
+        <define name="RADIO_MODE" value="RADIO_FLAP"/>
+        <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
       </subsystem>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
     </target>
 
     <target name="nps" board="pc">
diff --git a/conf/airframes/esden/hexy_ll11a2pwm.xml b/conf/airframes/esden/hexy_ll11a2pwm.xml
index f3705ebc95..55412a313b 100644
--- a/conf/airframes/esden/hexy_ll11a2pwm.xml
+++ b/conf/airframes/esden/hexy_ll11a2pwm.xml
@@ -215,16 +215,14 @@
    <load name="led_safety_status.xml"/>
  </modules>
 
-  <firmware name="rotorcraft">
-    <target name="ap" board="lisa_l_1.1">
-      <subsystem name="radio_control" type="spektrum">
-	<define name="RADIO_MODE" value="RADIO_FLAP"/>
-	<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-	<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
-      </subsystem>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
-    </target>
+ <firmware name="rotorcraft">
+   <target name="ap" board="lisa_l_1.1">
+     <subsystem name="radio_control" type="spektrum">
+       <define name="RADIO_MODE" value="RADIO_FLAP"/>
+       <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+       <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
+     </subsystem>
+   </target>
 
     <target name="nps" board="pc">
       <subsystem name="fdm"           type="jsbsim"/>
diff --git a/conf/airframes/esden/hexy_lm2a2pwm.xml b/conf/airframes/esden/hexy_lm2a2pwm.xml
index c900b0e7ae..53292099a9 100644
--- a/conf/airframes/esden/hexy_lm2a2pwm.xml
+++ b/conf/airframes/esden/hexy_lm2a2pwm.xml
@@ -178,12 +178,10 @@
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <subsystem name="radio_control" type="spektrum">
-	<define name="RADIO_MODE" value="RADIO_FLAP"/>
-	<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-	<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
+        <define name="RADIO_MODE" value="RADIO_FLAP"/>
+        <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
       </subsystem>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
     </target>
 
     <target name="nps" board="pc">
diff --git a/conf/airframes/esden/lisa2_hex.xml b/conf/airframes/esden/lisa2_hex.xml
index f17936a89a..ce6a348d5f 100644
--- a/conf/airframes/esden/lisa2_hex.xml
+++ b/conf/airframes/esden/lisa2_hex.xml
@@ -195,8 +195,6 @@
       <subsystem name="radio_control" type="ppm">
         <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
       </subsystem>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
     </target>
 
     <target name="nps" board="pc">
diff --git a/conf/airframes/esden/quady_ll11a2pwm.xml b/conf/airframes/esden/quady_ll11a2pwm.xml
index 3e39b0575e..876ee4a2c3 100644
--- a/conf/airframes/esden/quady_ll11a2pwm.xml
+++ b/conf/airframes/esden/quady_ll11a2pwm.xml
@@ -213,12 +213,10 @@
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_l_1.1">
       <subsystem name="radio_control" type="spektrum">
-	<define name="RADIO_MODE" value="RADIO_FLAP"/>
-	<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-	<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
+        <define name="RADIO_MODE" value="RADIO_FLAP"/>
+        <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
       </subsystem>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
     </target>
 
     <target name="nps" board="pc">
diff --git a/conf/airframes/esden/quady_lm1a1pwm.xml b/conf/airframes/esden/quady_lm1a1pwm.xml
index 99a2840dbd..e94f7008ae 100644
--- a/conf/airframes/esden/quady_lm1a1pwm.xml
+++ b/conf/airframes/esden/quady_lm1a1pwm.xml
@@ -174,12 +174,10 @@
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_1.0">
       <subsystem name="radio_control" type="spektrum">
-	<define name="RADIO_MODE" value="RADIO_FLAP"/>
-	<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-	<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
+        <define name="RADIO_MODE" value="RADIO_FLAP"/>
+        <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
       </subsystem>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
     </target>
 
     <target name="nps" board="pc">
diff --git a/conf/airframes/esden/quady_lm2a2pwm.xml b/conf/airframes/esden/quady_lm2a2pwm.xml
index bebf1bd2d6..6b8b5da46d 100644
--- a/conf/airframes/esden/quady_lm2a2pwm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwm.xml
@@ -180,12 +180,10 @@
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <subsystem name="radio_control" type="spektrum">
-	<define name="RADIO_MODE" value="RADIO_FLAP"/>
-	<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
-	<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
+        <define name="RADIO_MODE" value="RADIO_FLAP"/>
+        <define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
+        <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
       </subsystem>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
       <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/>
     </target>
 
diff --git a/conf/airframes/esden/quady_lm2a2pwmppm.xml b/conf/airframes/esden/quady_lm2a2pwmppm.xml
index 3c97b2ad2f..f33377fe79 100644
--- a/conf/airframes/esden/quady_lm2a2pwmppm.xml
+++ b/conf/airframes/esden/quady_lm2a2pwmppm.xml
@@ -178,10 +178,8 @@
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <subsystem name="radio_control" type="ppm">
-	<configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
+        <configure name="RADIO_CONTROL_PPM_PIN" value="UART1_RX"/>
       </subsystem>
-
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
     </target>
 
     <target name="nps" board="pc">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index e9e9aa9dba..2d507056ae 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -16,8 +16,7 @@
         <define name="RADIO_MODE" value="RADIO_AUX1"/>
         <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
       </subsystem>
-      <!-- MPU6000 is configured to output data at 500Hz -->
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
+      <!-- MPU6000 is configured to output data at 2kHz, but polled at 512Hz PERIODIC_FREQUENCY -->
     </target>
 
     <target name="nps" board="pc">
diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
index 3511bb9772..90932d24e5 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
@@ -16,8 +16,6 @@
         <define name="RADIO_MODE" value="RADIO_AUX1"/>
         <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
       </subsystem>
-      <!-- MPU600 is configured to output data at 500Hz -->
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
     </target>
 
     <target name="nps" board="pc">
diff --git a/conf/airframes/examples/quadrotor_mlkf.xml b/conf/airframes/examples/quadrotor_mlkf.xml
index c4f1066f5f..7a858bf286 100644
--- a/conf/airframes/examples/quadrotor_mlkf.xml
+++ b/conf/airframes/examples/quadrotor_mlkf.xml
@@ -6,8 +6,6 @@
   <firmware name="rotorcraft">
     <target name="ap" board="lisa_m_2.0">
       <configure name="FLASH_MODE" value="SWD"/>
-      <!-- MPU6000 is configured to output data at 500Hz -->
-      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
       <configure name="USE_MAGNETOMETER" value="1"/>
     </target>
 
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
index bd463158df..0fcd038a6e 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin_2_spi.c
@@ -40,11 +40,25 @@ PRINT_CONFIG_VAR(ASPIRIN_2_SPI_SLAVE_IDX)
 #endif
 PRINT_CONFIG_VAR(ASPIRIN_2_SPI_DEV)
 
-/* gyro internal lowpass frequency */
+/* MPU60x0 gyro/accel internal lowpass frequency */
 #if !defined ASPIRIN_2_LOWPASS_FILTER && !defined  ASPIRIN_2_SMPLRT_DIV
+#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+/* Accelerometer: Bandwidth 44Hz, Delay 4.9ms
+ * Gyroscope: Bandwidth 42Hz, Delay 4.8ms sampling 1kHz
+ */
+#define ASPIRIN_2_LOWPASS_FILTER MPU60X0_DLPF_42HZ
+#define ASPIRIN_2_SMPLRT_DIV 9
+PRINT_CONFIG_MSG("Gyro/Accel output rate is 100Hz at 1kHz internal sampling")
+#elif PERIODIC_FREQUENCY == 512
+/* Accelerometer: Bandwidth 260Hz, Delay 0ms
+ * Gyroscope: Bandwidth 256Hz, Delay 0.98ms sampling 8kHz
+ */
 #define ASPIRIN_2_LOWPASS_FILTER MPU60X0_DLPF_256HZ
-#define ASPIRIN_2_SMPLRT_DIV 1
-//PRINT_CONFIG_MSG("Gyro/Accel output rate is 500Hz")
+#define ASPIRIN_2_SMPLRT_DIV 3
+PRINT_CONFIG_MSG("Gyro/Accel output rate is 2kHz at 8kHz internal sampling")
+#else
+#error Non-default PERIODIC_FREQUENCY: please define ASPIRIN_2_LOWPASS_FILTER and ASPIRIN_2_SMPLRT_DIV.
+#endif
 #endif
 PRINT_CONFIG_VAR(ASPIRIN_2_LOWPASS_FILTER)
 PRINT_CONFIG_VAR(ASPIRIN_2_SMPLRT_DIV)