diff --git a/klippy/extras/mpu9250.py b/klippy/extras/mpu9250.py
index 04a33eb2..41376dc3 100644
--- a/klippy/extras/mpu9250.py
+++ b/klippy/extras/mpu9250.py
@@ -69,7 +69,7 @@ class MPU9250:
                                            default_speed=400000)
         self.mcu = mcu = self.i2c.get_mcu()
         self.oid = oid = mcu.create_oid()
-        self.query_mpu9250_cmd = self.query_mpu9250_end_cmd = None
+        self.query_mpu9250_cmd = None
         self.query_mpu9250_status_cmd = None
         mcu.register_config_callback(self._build_config)
         self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, "mpu9250_data", oid)
@@ -95,10 +95,6 @@ class MPU9250:
                            % (self.oid,), on_restart=True)
         self.query_mpu9250_cmd = self.mcu.lookup_command(
             "query_mpu9250 oid=%c clock=%u rest_ticks=%u", cq=cmdqueue)
-        self.query_mpu9250_end_cmd = self.mcu.lookup_query_command(
-            "query_mpu9250 oid=%c clock=%u rest_ticks=%u",
-            "mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
-            " buffered=%c fifo=%u limit_count=%hu", oid=self.oid, cq=cmdqueue)
         self.query_mpu9250_status_cmd = self.mcu.lookup_query_command(
             "query_mpu9250_status oid=%c",
             "mpu9250_status oid=%c clock=%u query_ticks=%u next_sequence=%hu"
@@ -193,7 +189,7 @@ class MPU9250:
         self.last_error_count = 0
     def _finish_measurements(self):
         # Halt bulk reading
-        params = self.query_mpu9250_end_cmd.send([self.oid, 0, 0])
+        self.query_mpu9250_cmd.send_wait_ack([self.oid, 0, 0])
         self.bulk_queue.clear_samples()
         logging.info("MPU9250 finished '%s' measurements", self.name)
         self.set_reg(REG_PWR_MGMT_1, SET_PWR_MGMT_1_SLEEP)
diff --git a/src/sensor_mpu9250.c b/src/sensor_mpu9250.c
index c535d097..7792b4d8 100644
--- a/src/sensor_mpu9250.c
+++ b/src/sensor_mpu9250.c
@@ -192,16 +192,7 @@ mp9250_stop(struct mpu9250 *mp, uint8_t oid)
 
     // disable accel FIFO
     uint8_t msg[2] = { AR_FIFO_EN, SET_DISABLE_FIFO };
-    uint32_t end1_time = timer_read_time();
     i2c_write(mp->i2c->i2c_config, sizeof(msg), msg);
-    uint32_t end2_time = timer_read_time();
-
-    // Report final data
-    if (mp->data_count > 0)
-        mp9250_report(mp, oid);
-    uint16_t bytes_to_read = get_fifo_status(mp);
-    mp9250_status(mp, oid, end1_time, end2_time,
-                    bytes_to_read / BYTES_PER_FIFO_ENTRY);
 
     // Uncomment and rebuilt to check for FIFO overruns when tuning
     //output("mpu9240 limit_count=%u fifo_max=%u",