diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index 30d06b02b16c1..300125068d169 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -55,6 +55,15 @@ void AP_InertialSensor_Backend::_set_gyro_oversampling(uint8_t instance, uint8_t
     _imu._gyro_over_sampling[instance] = n;
 }
 
+/*
+  while sensors are converging to get the true sample rate we re-init the notch filters.
+  stop doing this if the user arms
+ */
+bool AP_InertialSensor_Backend::sensors_converging() const
+{
+    return AP_HAL::millis64() < HAL_INS_CONVERGANCE_MS && !hal.util->get_soft_armed();
+}
+
 /*
   update the sensor rate for FIFO sensors
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
index 7ab5b420d817e..38e0a66b8b0e0 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -233,7 +233,7 @@ class AP_InertialSensor_Backend
     void _update_sensor_rate(uint16_t &count, uint32_t &start_us, float &rate_hz) const __RAMFUNC__;
 
     // return true if the sensors are still converging and sampling rates could change significantly
-    bool sensors_converging() const { return AP_HAL::millis() < HAL_INS_CONVERGANCE_MS; }
+    bool sensors_converging() const;
 
     // set accelerometer max absolute offset for calibration
     void _set_accel_max_abs_offset(uint8_t instance, float offset);