diff --git a/sw/airborne/peripherals/mpu9250_spi.c b/sw/airborne/peripherals/mpu9250_spi.c
index bf01fbadc6..ac6ed5667f 100644
--- a/sw/airborne/peripherals/mpu9250_spi.c
+++ b/sw/airborne/peripherals/mpu9250_spi.c
@@ -173,7 +173,7 @@ bool_t mpu9250_configure_i2c_slaves(Mpu9250ConfigSet mpu_set, void *mpu)
       break;
     case MPU9250_SPI_CONF_SLAVES_CONFIGURE:
       /* configure each slave until all nb_slaves are done */
-      if (mpu_spi->config.nb_slave_init < mpu_spi->config.nb_slaves && mpu_i2c->config.nb_slave_init < MPU9250_I2C_NB_SLAVES) {
+      if (mpu_spi->config.nb_slave_init < mpu_spi->config.nb_slaves && mpu_spi->config.nb_slave_init < MPU9250_I2C_NB_SLAVES) {
          // proceed to next slave if configure for current one returns true
         if (mpu_spi->config.slaves[mpu_spi->config.nb_slave_init].configure(mpu_set, mpu)) {
           mpu_spi->config.nb_slave_init++;