diff --git a/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp b/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
index e4ad620f89..df4178554f 100644
--- a/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+++ b/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
@@ -642,7 +642,7 @@ void ICM42688P::ProcessAccel(const hrt_abstime &timestamp_sample, const FIFO::DA
 	accel.timestamp_sample = timestamp_sample;
 	accel.samples = 0;
 
-	// 18-bits of accelerometer data
+	// 18-bits of accelerometer data, sent as 20-bits, 2 least significant bits always 0
 	bool scale_20bit = false;
 
 	// first pass
@@ -738,7 +738,7 @@ void ICM42688P::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DAT
 	gyro.timestamp_sample = timestamp_sample;
 	gyro.samples = 0;
 
-	// 20-bits of gyroscope data
+	// 19-bits of gyroscope data sent as 20-bits, LSB bit is 0
 	bool scale_20bit = false;
 
 	// first pass
@@ -775,6 +775,7 @@ void ICM42688P::ProcessGyro(const hrt_abstime &timestamp_sample, const FIFO::DAT
 			scale_20bit = true;
 		}
 
+		// shift by 1 (least significant bit is always 0)
 		gyro.x[gyro.samples] = gyro_x / 2;
 		gyro.y[gyro.samples] = gyro_y / 2;
 		gyro.z[gyro.samples] = gyro_z / 2;