diff --git a/src/main/interface/cli.c b/src/main/interface/cli.c
index b2728bac8..142d63540 100644
--- a/src/main/interface/cli.c
+++ b/src/main/interface/cli.c
@@ -2373,11 +2373,27 @@ static void cliGpsPassthrough(char *cmdline)
 #endif
 
 #if defined(USE_GYRO_REGISTER_DUMP) && !defined(SIMULATOR_BUILD)
+static void cliPrintGyroRegisters(uint8_t whichSensor)
+{
+    tfp_printf("# WHO_AM_I    0x%X\r\n", gyroReadRegister(whichSensor, MPU_RA_WHO_AM_I));
+    tfp_printf("# CONFIG      0x%X\r\n", gyroReadRegister(whichSensor, MPU_RA_CONFIG));
+    tfp_printf("# GYRO_CONFIG 0x%X\r\n", gyroReadRegister(whichSensor, MPU_RA_GYRO_CONFIG));
+}
+
 static void cliDumpGyroRegisters(char *cmdline)
 {
-    tfp_printf("# WHO_AM_I    0x%X\r\n", gyroReadRegister(MPU_RA_WHO_AM_I));
-    tfp_printf("# CONFIG      0x%X\r\n", gyroReadRegister(MPU_RA_CONFIG));
-    tfp_printf("# GYRO_CONFIG 0x%X\r\n", gyroReadRegister(MPU_RA_GYRO_CONFIG));
+#ifdef USE_DUAL_GYRO
+    if ((gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1) || (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH)) {
+        tfp_printf("\r\n# Gyro 1\r\n");
+        cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_1);
+    }
+    if ((gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2) || (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH)) {
+        tfp_printf("\r\n# Gyro 2\r\n");
+        cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_2);
+    }
+#else
+    cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_1);
+#endif // USE_DUAL_GYRO
     UNUSED(cmdline);
 }
 #endif
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 38eb04f35..70c9dc07e 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -227,6 +227,22 @@ const busDevice_t *gyroSensorBus(void)
 #endif
 }
 
+#ifdef USE_GYRO_REGISTER_DUMP
+const busDevice_t *gyroSensorBusByDevice(uint8_t whichSensor)
+{
+#ifdef USE_DUAL_GYRO
+    if (whichSensor == GYRO_CONFIG_USE_GYRO_2) {
+        return &gyroSensor2.gyroDev.bus;
+    } else {
+        return &gyroSensor1.gyroDev.bus;
+    }
+#else
+    UNUSED(whichSensor);
+    return &gyroSensor1.gyroDev.bus;
+#endif
+}
+#endif // USE_GYRO_REGISTER_DUMP
+
 const mpuConfiguration_t *gyroMpuConfiguration(void)
 {
 #ifdef USE_DUAL_GYRO
@@ -1276,8 +1292,8 @@ uint16_t gyroAbsRateDps(int axis)
 }
 
 #ifdef USE_GYRO_REGISTER_DUMP
-uint8_t gyroReadRegister(uint8_t reg)
+uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg)
 {
-    return mpuGyroReadRegister(gyroSensorBus(), reg);
+    return mpuGyroReadRegister(gyroSensorBusByDevice(whichSensor), reg);
 }
-#endif
+#endif // USE_GYRO_REGISTER_DUMP
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 16b3a31ab..f26d7673d 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -128,4 +128,4 @@ int16_t gyroRateDps(int axis);
 bool gyroOverflowDetected(void);
 bool gyroYawSpinDetected(void);
 uint16_t gyroAbsRateDps(int axis);
-uint8_t gyroReadRegister(uint8_t reg);
+uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg);