diff --git a/conf/firmwares/subsystems/shared/imu_umarim.makefile b/conf/firmwares/subsystems/shared/imu_umarim.makefile
index b175be45e3..256207aa19 100644
--- a/conf/firmwares/subsystems/shared/imu_umarim.makefile
+++ b/conf/firmwares/subsystems/shared/imu_umarim.makefile
@@ -13,6 +13,11 @@ IMU_UMARIM_CFLAGS += -DIMU_UMARIM_I2C_DEV=$(IMU_UMARIM_I2C_DEV)
 IMU_UMARIM_SRCS += peripherals/itg3200.c
 IMU_UMARIM_SRCS += peripherals/adxl345_i2c.c
 
+# with default UMARIM_GYRO_SMPLRT_DIV (gyro output 50Hz)
+# the AHRS_PROPAGATE_FREQUENCY needs to be adjusted accordingly
+AHRS_PROPAGATE_FREQUENCY ?= 50
+ap.CFLAGS += -DAHRS_PROPAGATE_FREQUENCY=$(AHRS_PROPAGATE_FREQUENCY)
+
 ap.CFLAGS += $(IMU_UMARIM_CFLAGS)
 ap.srcs   += $(IMU_UMARIM_SRCS)