diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
index b9a929860f..1ff49b6c17 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
@@ -83,16 +83,9 @@ bool AP_RangeFinder_PulsedLightLRF::get_reading(uint16_t &reading_cm)
         return false;
     }
 
-    // read the high byte
+    // read the high and low byte distance registers
     if (hal.i2c->readRegisters(AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR, 
-                               AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG, 1, &buff[0]) != 0) {
-        i2c_sem->give();
-        return false;
-    }
-    hal.scheduler->delay_microseconds(200);
-    // read the low byte
-    if (hal.i2c->readRegisters(AP_RANGEFINDER_PULSEDLIGHTLRF_ADDR, 
-                               AP_RANGEFINDER_PULSEDLIGHTLRF_DISTLOW_REG, 1, &buff[1]) != 0) {
+                               AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG, 2, &buff[0]) != 0) {
         i2c_sem->give();
         return false;
     }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
index 171e3d1bca..896882bc22 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
@@ -33,8 +33,7 @@
 
 // registers
 #define AP_RANGEFINDER_PULSEDLIGHTLRF_MEASURE_REG           0x00
-#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG          0x0f    // high byte of distance measurement
-#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTLOW_REG           0x10    // low byte of distance measurement
+#define AP_RANGEFINDER_PULSEDLIGHTLRF_DISTHIGH_REG          0x8f    // high byte of distance measurement
 
 // command register values
 #define AP_RANGEFINDER_PULSEDLIGHTLRF_MSRREG_ACQUIRE        0x04    // Varies based on sensor revision, 0x04 is newest, 0x61 is older