From b4f7dc4c85789a59325351222a249a57a18d8224 Mon Sep 17 00:00:00 2001
From: qqqlab <46283638+qqqlab@users.noreply.github.com>
Date: Thu, 29 Aug 2024 13:32:25 +0200
Subject: [PATCH] Update MPUxxxx.h

---
 src/madflight/imu/MPUxxxx/MPUxxxx.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/madflight/imu/MPUxxxx/MPUxxxx.h b/src/madflight/imu/MPUxxxx/MPUxxxx.h
index 497a2c1..dc094b5 100644
--- a/src/madflight/imu/MPUxxxx/MPUxxxx.h
+++ b/src/madflight/imu/MPUxxxx/MPUxxxx.h
@@ -226,7 +226,7 @@ class MPUXXXX {
     {
         uint8_t d[14]; //response is 14 bytes = 6 acc + 2 temp + 6 gyro
         _iface->setFreqFast();
-        _iface->ReadRegs(MPUREG_ACCEL_XOUT_H, d, 20); 
+        _iface->ReadRegs(MPUREG_ACCEL_XOUT_H, d, 14); 
         // Get accelerometer (6 bytes) - sensor orientation for acc/gyro is NWU
         rawa[0] = -(int16_t)((d[0]<<8) | d[1]); //-N = -N
         rawa[1] =  (int16_t)((d[2]<<8) | d[3]); //-E =  W