diff --git a/src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp b/src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp
index 1e73a9d9f7b5..a345aaf23002 100644
--- a/src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp
+++ b/src/drivers/imu/analog_devices/adis16470/ADIS16470.cpp
@@ -50,6 +50,8 @@ ADIS16470::ADIS16470(const I2CSPIDriverConfig &config) :
 	if (_drdy_gpio != 0) {
 		_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed");
 	}
+
+	set_cs_to_sck_delay(SPI_CS_TO_SCK_PERIOD_NS);
 }
 
 ADIS16470::~ADIS16470()
diff --git a/src/drivers/imu/analog_devices/adis16470/Analog_Devices_ADIS16470_registers.hpp b/src/drivers/imu/analog_devices/adis16470/Analog_Devices_ADIS16470_registers.hpp
index 6cab0b1b080e..9f3830832ec3 100644
--- a/src/drivers/imu/analog_devices/adis16470/Analog_Devices_ADIS16470_registers.hpp
+++ b/src/drivers/imu/analog_devices/adis16470/Analog_Devices_ADIS16470_registers.hpp
@@ -67,6 +67,8 @@ static constexpr uint32_t SPI_SPEED_BURST = 1 * 1000 * 1000; // 1 MHz SPI serial
 
 static constexpr uint32_t SPI_STALL_PERIOD = 16; // 16 us Stall period between data
 
+static constexpr uint32_t SPI_CS_TO_SCK_PERIOD_NS = 200; // 200 ns delay from CS to SCK edge
+
 static constexpr uint16_t DIR_WRITE = 0x80;
 
 static constexpr uint16_t Product_identification = 0x4056;
diff --git a/src/lib/drivers/device/nuttx/SPI.cpp b/src/lib/drivers/device/nuttx/SPI.cpp
index a6a205f19b26..e82a525bdf8a 100644
--- a/src/lib/drivers/device/nuttx/SPI.cpp
+++ b/src/lib/drivers/device/nuttx/SPI.cpp
@@ -50,6 +50,10 @@
 # error This driver requires CONFIG_SPI_EXCHANGE
 #endif
 
+#ifndef SPI_CS_TO_SCK_DELAY
+#define SPI_CS_TO_SCK_DELAY(dev, dly_ns) if (dly_ns) px4_udelay(((dly_ns) + 999) / 1000)
+#endif
+
 namespace device
 {
 
@@ -169,6 +173,7 @@ SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	SPI_SETMODE(_dev, _mode);
 	SPI_SETBITS(_dev, 8);
 	SPI_SELECT(_dev, _device, true);
+	SPI_CS_TO_SCK_DELAY(_dev, _cs_to_sck_ns);
 
 	/* do the transfer */
 	SPI_EXCHANGE(_dev, send, recv, len);
@@ -221,6 +226,7 @@ SPI::_transferhword(uint16_t *send, uint16_t *recv, unsigned len)
 	SPI_SETMODE(_dev, _mode);
 	SPI_SETBITS(_dev, 16);			/* 16 bit transfer */
 	SPI_SELECT(_dev, _device, true);
+	SPI_CS_TO_SCK_DELAY(_dev, _cs_to_sck_ns);
 
 	/* do the transfer */
 	SPI_EXCHANGE(_dev, send, recv, len);
diff --git a/src/lib/drivers/device/nuttx/SPI.hpp b/src/lib/drivers/device/nuttx/SPI.hpp
index 32f5f7d6bf4b..dfdde109a461 100644
--- a/src/lib/drivers/device/nuttx/SPI.hpp
+++ b/src/lib/drivers/device/nuttx/SPI.hpp
@@ -161,10 +161,12 @@ class __EXPORT SPI : public CDev
 	 */
 	void		set_lockmode(enum LockMode mode) { _locking_mode = mode; }
 
+	void		set_cs_to_sck_delay(uint32_t delay_ns) { _cs_to_sck_ns = delay_ns; }
 private:
 	uint32_t		_device;
 	enum spi_mode_e		_mode;
 	uint32_t		_frequency;
+	uint32_t		_cs_to_sck_ns {0};
 	struct spi_dev_s	*_dev {nullptr};
 
 	LockMode		_locking_mode{LOCK_THREADS};	/**< selected locking mode */