diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 14cfc35b27..2d29eb6bb9 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -1058,7 +1058,9 @@ MPU9250::measure()
 	if (_mag->is_passthrough()) {
 #   endif
 
-		_mag->_measure(mpu_report.mag);
+		if (_register_wait == 0) {
+			_mag->_measure(mpu_report.mag);
+		}
 
 #   ifdef USE_I2C