diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index ad8f55c382..a7bc6b0815 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -79,13 +79,13 @@ else
 		then
 		fi
 
-		# Internal SPI bus mpu9250 is rotated 90 deg yaw
-		if mpu9250 -R 2 start
+		# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+		if mpu6000 -R 2 -T 20608 start
 		then
 		fi
 
-		# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-		if mpu6000 -R 2 -T 20608 start
+		# Internal SPI bus mpu9250 is rotated 90 deg yaw
+		if mpu9250 -R 2 start
 		then
 		fi
 	else
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index a18a13dfa0..1fcd48b088 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -137,7 +137,7 @@ static calibrate_return gyro_calibration_worker(int cancel_sub, void* data)
 	}
 	
 	for (unsigned s = 0; s < max_gyros; s++) {
-		if (worker_data->device_id[s] != 0 && calibration_counter[s] < calibration_count / 4) {
+		if (worker_data->device_id[s] != 0 && calibration_counter[s] < calibration_count / 2) {
 			mavlink_and_console_log_critical(worker_data->mavlink_fd, "[cal] ERROR: missing data, sensor %d", s)
 			return calibrate_return_error;
 		}