diff --git a/common/motion_sense.c b/common/motion_sense.c
index 4855a68d93..4e7f63ea83 100644
--- a/common/motion_sense.c
+++ b/common/motion_sense.c
@@ -505,13 +505,6 @@ void motion_sense_task(void)
 
 		ts_end_task = get_time();
 #ifdef CONFIG_ACCEL_FIFO
-		/*
-		 * If ODR of any sensor changed, insert a timestamp to be ease
-		 * calculation of each events.
-		 */
-		if (event & TASK_EVENT_MOTION_ODR_CHANGE)
-			motion_sense_insert_timestamp();
-
 		/*
 		 * Ask the host to flush the queue if
 		 * - a flush event has been queued.
@@ -519,6 +512,7 @@ void motion_sense_task(void)
 		 * - we haven't done it for a while.
 		 */
 		if (fifo_flush_needed ||
+		    event & TASK_EVENT_MOTION_ODR_CHANGE ||
 		    queue_space(&motion_sense_fifo) < CONFIG_ACCEL_FIFO_THRES ||
 		    (ts_end_task.val - ts_last_int.val) > accel_interval) {
 			if (!fifo_flush_needed)
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c
index 3afa3e6bd7..e2b6daddeb 100644
--- a/driver/accelgyro_bmi160.c
+++ b/driver/accelgyro_bmi160.c
@@ -797,8 +797,16 @@ static int load_fifo(struct motion_sensor_t *s)
 	if (s->type != MOTIONSENSE_TYPE_ACCEL)
 		return EC_SUCCESS;
 
-	if (!(data->flags & (BMI160_FIFO_ALL_MASK << BMI160_FIFO_FLAG_OFFSET)))
+	if (!(data->flags &
+	      (BMI160_FIFO_ALL_MASK << BMI160_FIFO_FLAG_OFFSET))) {
+		/*
+		 * Flush potiential left over:
+		 *
+		 * When sensor is resumed, we don't want to read old data.
+		 */
+		raw_write8(s->addr, BMI160_CMD_REG, BMI160_CMD_FIFO_FLUSH);
 		return EC_SUCCESS;
+	}
 
 	do {
 		enum fifo_state state = FIFO_HEADER;