diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
index 911255d41c1a..ad6f91d06185 100644
--- a/drivers/iio/imu/adis.c
+++ b/drivers/iio/imu/adis.c
@@ -324,7 +324,12 @@ static int adis_self_test(struct adis *adis)
 
 	msleep(adis->data->startup_delay);
 
-	return adis_check_status(adis);
+	ret = adis_check_status(adis);
+
+	if (adis->data->self_test_no_autoclear)
+		adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00);
+
+	return ret;
 }
 
 /**
diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h
index fa2d01ef8f55..360da7d18a3d 100644
--- a/include/linux/iio/imu/adis.h
+++ b/include/linux/iio/imu/adis.h
@@ -41,6 +41,7 @@ struct adis_data {
 	unsigned int diag_stat_reg;
 
 	unsigned int self_test_mask;
+	bool self_test_no_autoclear;
 	unsigned int startup_delay;
 
 	const char * const *status_error_msgs;