diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c b/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c
index 64ef448548..a13032bf7c 100644
--- a/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c
+++ b/sw/airborne/arch/stm32/subsystems/imu/imu_krooz_sd_arch.c
@@ -28,10 +28,10 @@ void exti9_5_isr(void) {
   /* clear EXTI */
   if(EXTI_PR & EXTI6) {
     exti_reset_request(EXTI6);
-    hmc58xx_read(&imu_krooz.hmc);
+    imu_krooz.hmc_eoc = TRUE;
   }
   if(EXTI_PR & EXTI5) {
     exti_reset_request(EXTI5);
-    mpu60x0_i2c_read(&imu_krooz.mpu);
+    imu_krooz.mpu_eoc = TRUE;
   }
 }
diff --git a/sw/airborne/boards/krooz/imu_krooz.c b/sw/airborne/boards/krooz/imu_krooz.c
index fe14fbb448..e120cbbea3 100644
--- a/sw/airborne/boards/krooz/imu_krooz.c
+++ b/sw/airborne/boards/krooz/imu_krooz.c
@@ -103,6 +103,9 @@ void imu_impl_init( void )
   imu_krooz.acc_valid = FALSE;
   imu_krooz.mag_valid = FALSE;
 
+  imu_krooz.hmc_eoc = FALSE;
+  imu_krooz.mpu_eoc = FALSE;
+
   imu_krooz_sd_arch_init();
 }
 
@@ -155,6 +158,11 @@ void imu_krooz_downlink_raw( void )
 
 void imu_krooz_event( void )
 {
+  if (imu_krooz.mpu_eoc) {
+    mpu60x0_i2c_read(&imu_krooz.mpu);
+    imu_krooz.mpu_eoc = FALSE;
+  }
+
   // If the MPU6050 I2C transaction has succeeded: convert the data
   mpu60x0_i2c_event(&imu_krooz.mpu);
   if (imu_krooz.mpu.data_available) {
@@ -164,6 +172,11 @@ void imu_krooz_event( void )
     imu_krooz.mpu.data_available = FALSE;
   }
 
+  if (imu_krooz.hmc_eoc) {
+    hmc58xx_read(&imu_krooz.hmc);
+    imu_krooz.hmc_eoc = FALSE;
+  }
+
   // If the HMC5883 I2C transaction has succeeded: convert the data
   hmc58xx_event(&imu_krooz.hmc);
   if (imu_krooz.hmc.data_available) {
diff --git a/sw/airborne/boards/krooz/imu_krooz.h b/sw/airborne/boards/krooz/imu_krooz.h
index 543306d225..565e48a838 100644
--- a/sw/airborne/boards/krooz/imu_krooz.h
+++ b/sw/airborne/boards/krooz/imu_krooz.h
@@ -111,6 +111,8 @@ struct ImuKrooz {
   volatile bool_t gyr_valid;
   volatile bool_t acc_valid;
   volatile bool_t mag_valid;
+  volatile bool_t mpu_eoc;
+  volatile bool_t hmc_eoc;
   struct Mpu60x0_I2c mpu;
   struct Hmc58xx hmc;
   struct Int32Rates rates_sum;