diff --git a/conf/modules/stabilization_indi.xml b/conf/modules/stabilization_indi.xml
index 9926bfaec5..b0fec1e2db 100644
--- a/conf/modules/stabilization_indi.xml
+++ b/conf/modules/stabilization_indi.xml
@@ -45,11 +45,11 @@
     <dl_settings>
       <dl_settings NAME="indi">
         <dl_setting var="indi_gains.att.p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P"/>
-        <dl_setting var="indi_gains.rate.p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P"/>
+        <dl_setting var="indi_gains.rate.p" min="0.1" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P"/>
         <dl_setting var="indi_gains.att.q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q"/>
-        <dl_setting var="indi_gains.rate.q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P"/>
+        <dl_setting var="indi_gains.rate.q" min="0.1" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P"/>
         <dl_setting var="indi_gains.att.r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R"/>
-        <dl_setting var="indi_gains.rate.r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/>
+        <dl_setting var="indi_gains.rate.r" min="0.1" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/>
         <dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8"/>
       </dl_settings>
     </dl_settings>
diff --git a/sw/airborne/modules/imu/imu_mpu9250_i2c.c b/sw/airborne/modules/imu/imu_mpu9250_i2c.c
index b4deeb4265..7199592e91 100644
--- a/sw/airborne/modules/imu/imu_mpu9250_i2c.c
+++ b/sw/airborne/modules/imu/imu_mpu9250_i2c.c
@@ -32,7 +32,7 @@
 #include "modules/core/abi.h"
 
 #if !defined IMU_MPU9250_GYRO_LOWPASS_FILTER && !defined IMU_MPU9250_ACCEL_LOWPASS_FILTER && !defined  IMU_MPU9250_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+#if (PERIODIC_FREQUENCY >= 60) && (PERIODIC_FREQUENCY <= 120)
 /* Accelerometer: Bandwidth 41Hz, Delay 5.9ms
  * Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz
  * Output rate: 100Hz
@@ -41,7 +41,7 @@
 #define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
 #define IMU_MPU9250_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 184Hz, Delay 5.8ms
  * Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz
  * Output rate: 2kHz
diff --git a/sw/airborne/modules/imu/imu_mpu9250_spi.c b/sw/airborne/modules/imu/imu_mpu9250_spi.c
index bea2dd8da0..e73e97639d 100644
--- a/sw/airborne/modules/imu/imu_mpu9250_spi.c
+++ b/sw/airborne/modules/imu/imu_mpu9250_spi.c
@@ -38,7 +38,7 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SPI_DEV)
 
 
 #if !defined IMU_MPU9250_GYRO_LOWPASS_FILTER && !defined IMU_MPU9250_ACCEL_LOWPASS_FILTER && !defined  IMU_MPU9250_SMPLRT_DIV
-#if (PERIODIC_FREQUENCY == 60) || (PERIODIC_FREQUENCY == 120)
+#if (PERIODIC_FREQUENCY >= 60) && (PERIODIC_FREQUENCY <= 120)
 /* Accelerometer: Bandwidth 41Hz, Delay 5.9ms
  * Gyroscope: Bandwidth 41Hz, Delay 5.9ms sampling 1kHz
  * Output rate: 100Hz
@@ -47,7 +47,7 @@ PRINT_CONFIG_VAR(IMU_MPU9250_SPI_DEV)
 #define IMU_MPU9250_ACCEL_LOWPASS_FILTER MPU9250_DLPF_ACCEL_41HZ
 #define IMU_MPU9250_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 184Hz, Delay 5.8ms
  * Gyroscope: Bandwidth 250Hz, Delay 0.97ms sampling 8kHz
  * Output rate: 2kHz