diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 8c6f05fd1e6789..5dea0189e53f7a 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -39,6 +39,7 @@
 #include "AP_InertialSensor_Invensensev3.h"
 #include "AP_InertialSensor_NONE.h"
 #include "AP_InertialSensor_SCHA63T.h"
+#include <AP_Scheduler/AP_Scheduler.h>
 
 /* Define INS_TIMING_DEBUG to track down scheduling issues with the main loop.
  * Output is on the debug console. */
@@ -1492,6 +1493,31 @@ bool AP_InertialSensor::gyro_calibrated_ok_all() const
     return (get_gyro_count() > 0);
 }
 
+// Prearm check to verify that we have sane sched loop rates set based on Gyro backend rates
+bool AP_InertialSensor::pre_arm_check_gyro_backend_rate_hz(char* fail_msg, uint16_t fail_msg_len) const
+{
+#if AP_SCHEDULER_ENABLED
+    for (uint8_t i=0; i<get_gyro_count(); i++) {
+        if (!_use(i) || _backends[i] == nullptr) {
+            continue;
+        }
+        // if gyro backend rate hz is 0, that means we are polling sensor at the sample rate or higher
+        if (_backends[i]->get_gyro_backend_rate_hz() == 0) {
+            if (_gyro_raw_sample_rates[i] < _loop_rate) {
+                hal.util->snprintf(fail_msg, fail_msg_len, "Gyro %d sample rate %dHz < sched loop rate %fHz",
+                         i, _backends[i]->get_gyro_backend_rate_hz(), _loop_rate);
+                return false;
+            }
+        } else if (_backends[i]->get_gyro_backend_rate_hz() < _loop_rate) {
+            hal.util->snprintf(fail_msg, fail_msg_len, "Gyro %d backend rate %dHz < sched loop rate %dHz",
+                     i, _backends[i]->get_gyro_backend_rate_hz(), _loop_rate);
+            return false;
+        }
+    }
+#endif
+    return true;
+}
+
 // return true if gyro instance should be used (must be healthy and have it's use parameter set to 1)
 bool AP_InertialSensor::use_gyro(uint8_t instance) const
 {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index 30e60bec6c2313..5e9af64cfe8742 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -156,6 +156,9 @@ class AP_InertialSensor : AP_AccelCal_Client
     uint16_t get_gyro_rate_hz(uint8_t instance) const { return uint16_t(_gyro_raw_sample_rates[instance] * _gyro_over_sampling[instance]); }
     uint16_t get_accel_rate_hz(uint8_t instance) const { return uint16_t(_accel_raw_sample_rates[instance] * _accel_over_sampling[instance]); }
 
+    // validate backend sample rates
+    bool pre_arm_check_gyro_backend_rate_hz(char* fail_msg, uint16_t fail_msg_len) const;
+
     // FFT support access
 #if HAL_GYROFFT_ENABLED
     const Vector3f& get_gyro_for_fft(void) const { return _gyro_for_fft[_first_usable_gyro]; }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
index 817cb2e947c858..553a1120c8fb2a 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -91,6 +91,12 @@ class AP_InertialSensor_Backend
     bool has_been_killed(uint8_t instance) const { return false; }
 #endif
 
+    // get the backend update rate for the gyro in Hz
+    // return 0 if the backend polling rate is the same as the sample rate or higher
+    // override return the backend rate in Hz if it is lower than the sample rate
+    virtual uint16_t get_gyro_backend_rate_hz() const {
+        return 0;
+    }
 
     /*
       device driver IDs. These are used to fill in the devtype field
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
index 7ba132f3a309a7..223e2d59b5f39b 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.h
@@ -58,6 +58,11 @@ class AP_InertialSensor_Invensense : public AP_InertialSensor_Backend
     // get a startup banner to output to the GCS
     bool get_output_banner(char* banner, uint8_t banner_len) override;
 
+    // get the gyro backend rate in Hz at which the FIFO is being read
+    uint16_t get_gyro_backend_rate_hz() const override {
+        return _gyro_backend_rate_hz;
+    }
+
     enum Invensense_Type {
         Invensense_MPU6000=0,
         Invensense_MPU6500,
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.h b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.h
index 1b14062863a29e..98fbad8d9818b3 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.h
@@ -55,6 +55,11 @@ class AP_InertialSensor_Invensensev2 : public AP_InertialSensor_Backend
     // get a startup banner to output to the GCS
     bool get_output_banner(char* banner, uint8_t banner_len) override;
 
+    // get the gyro backend rate in Hz at which the FIFO is being read
+    uint16_t get_gyro_backend_rate_hz() const override {
+        return _gyro_backend_rate_hz;
+    }
+
     enum Invensensev2_Type {
         Invensensev2_ICM20948 = 0,
         Invensensev2_ICM20648,
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.h b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.h
index 6b4fc49a8c5c49..012f2e615aac38 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.h
@@ -75,6 +75,11 @@ class AP_InertialSensor_Invensensev3 : public AP_InertialSensor_Backend
     bool accumulate_samples(const struct FIFOData *data, uint8_t n_samples);
     bool accumulate_highres_samples(const struct FIFODataHighRes *data, uint8_t n_samples);
 
+    // get the gyro backend rate in Hz at which the FIFO is being read
+    uint16_t get_gyro_backend_rate_hz() const override {
+        return backend_rate_hz;
+    }
+
     // reset FIFO configure1 register
     uint8_t fifo_config1;