diff --git a/sw/airborne/peripherals/mpu60x0_i2c.c b/sw/airborne/peripherals/mpu60x0_i2c.c
index c125ad79cde..7157ea10e30 100644
--- a/sw/airborne/peripherals/mpu60x0_i2c.c
+++ b/sw/airborne/peripherals/mpu60x0_i2c.c
@@ -95,7 +95,7 @@ void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
         mpu->data_rates.rates.q = Int16FromBuf(mpu->i2c_trans.buf, 11);
         mpu->data_rates.rates.r = Int16FromBuf(mpu->i2c_trans.buf, 13);
 
-        int16_t temp_raw = Int16FromBuf(mpu->rx_buf, 8);
+        int16_t temp_raw = Int16FromBuf(mpu->i2c_trans.buf, 7);
         mpu->temp = (float)temp_raw / 340.0f + 36.53f;
 
         // if we are reading slaves through the mpu, copy the ext_sens_data