diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
index 881bbaa142..a4b3610f9c 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
@@ -426,7 +426,9 @@ bool AP_InertialSensor_Invensense::_accumulate(uint8_t *samples, uint8_t n_sampl
 
         int16_t t2 = int16_val(data, 3);
         if (!_check_raw_temp(t2)) {
-            debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
+            if (!hal.scheduler->in_expected_delay()) {
+                debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
+            }
             _fifo_reset();
             return false;
         }
@@ -469,7 +471,9 @@ bool AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling(uint8_t *sam
         // use temperatue to detect FIFO corruption
         int16_t t2 = int16_val(data, 3);
         if (!_check_raw_temp(t2)) {
-            debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
+            if (!hal.scheduler->in_expected_delay()) {
+                debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
+            }
             _fifo_reset();
             ret = false;
             break;
@@ -586,7 +590,9 @@ void AP_InertialSensor_Invensense::_read_fifo()
             }
             memset(rx, 0, n * MPU_SAMPLE_SIZE);
             if (!_dev->transfer(rx, n * MPU_SAMPLE_SIZE, rx, n * MPU_SAMPLE_SIZE)) {
-                hal.console->printf("MPU60x0: error in fifo read %u bytes\n", n * MPU_SAMPLE_SIZE);
+                if (!hal.scheduler->in_expected_delay()) {
+                    debug("MPU60x0: error in fifo read %u bytes\n", n * MPU_SAMPLE_SIZE);
+                }
                 _dev->set_chip_select(false);
                 goto check_registers;
             }
@@ -595,7 +601,9 @@ void AP_InertialSensor_Invensense::_read_fifo()
 
         if (_fast_sampling) {
             if (!_accumulate_sensor_rate_sampling(rx, n)) {
-                debug("IMU[%u] stop at %u of %u", _accel_instance, n_samples, bytes_read/MPU_SAMPLE_SIZE);
+                if (!hal.scheduler->in_expected_delay()) {
+                    debug("IMU[%u] stop at %u of %u", _accel_instance, n_samples, bytes_read/MPU_SAMPLE_SIZE);
+                }
                 break;
             }
         } else {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp
index f847218444..a0a05e80de 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp
@@ -319,7 +319,9 @@ bool AP_InertialSensor_Invensensev2::_accumulate(uint8_t *samples, uint8_t n_sam
 
         int16_t t2 = int16_val(data, 6);
         if (!_check_raw_temp(t2)) {
-            debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
+            if (!hal.scheduler->in_expected_delay()) {
+                debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
+            }
             _fifo_reset();
             return false;
         }
@@ -362,7 +364,9 @@ bool AP_InertialSensor_Invensensev2::_accumulate_sensor_rate_sampling(uint8_t *s
         // use temperature to detect FIFO corruption
         int16_t t2 = int16_val(data, 6);
         if (!_check_raw_temp(t2)) {
-            debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
+            if (!hal.scheduler->in_expected_delay()) {
+                debug("temp reset IMU[%u] %d %d", _accel_instance, _raw_temp, t2);
+            }
             _fifo_reset();
             ret = false;
             break;
@@ -476,7 +480,9 @@ void AP_InertialSensor_Invensensev2::_read_fifo()
             }
             memset(rx, 0, n * INV2_SAMPLE_SIZE);
             if (!_dev->transfer(rx, n * INV2_SAMPLE_SIZE, rx, n * INV2_SAMPLE_SIZE)) {
-                hal.console->printf("INV2: error in fifo read %u bytes\n", n * INV2_SAMPLE_SIZE);
+                if (!hal.scheduler->in_expected_delay()) {
+                    debug("INV2: error in fifo read %u bytes\n", n * INV2_SAMPLE_SIZE);
+                }
                 _dev->set_chip_select(false);
                 goto check_registers;
             }
@@ -485,7 +491,9 @@ void AP_InertialSensor_Invensensev2::_read_fifo()
 
         if (_fast_sampling) {
             if (!_accumulate_sensor_rate_sampling(rx, n)) {
-                debug("IMU[%u] stop at %u of %u", _accel_instance, n_samples, bytes_read/INV2_SAMPLE_SIZE);
+                if (!hal.scheduler->in_expected_delay()) {
+                    debug("IMU[%u] stop at %u of %u", _accel_instance, n_samples, bytes_read/INV2_SAMPLE_SIZE);
+                }
                 break;
             }
         } else {