diff --git a/src/main/drivers/accgyro_mpu3050.c b/src/main/drivers/accgyro_mpu3050.c
index d6dd625049..4f642c2d6a 100644
--- a/src/main/drivers/accgyro_mpu3050.c
+++ b/src/main/drivers/accgyro_mpu3050.c
@@ -157,5 +157,9 @@ void checkMPU3050Interrupt(bool *gyroIsUpdated) {
 
 	i2cRead(MPU3050_ADDRESS, MPU3050_INT_STATUS, 1, &mpuIntStatus);
 
-	(mpuIntStatus) ? (*gyroIsUpdated= true) : (*gyroIsUpdated= false);
+    if (mpuIntStatus) {
+        *gyroIsUpdated = true;
+    } else {
+        *gyroIsUpdated = false;
+    }
 }
diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index 0bc959a506..bcb876de38 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -167,7 +167,7 @@ static void mpu6050GyroInit(void);
 static bool mpu6050GyroRead(int16_t *gyroADC);
 static void checkMPU6050DataReady(bool *mpuDataReadyPtr);
 
-static bool mpuDataReady;
+static volatile bool mpuDataReady;
 
 typedef enum {
     MPU_6050_HALF_RESOLUTION,
@@ -425,9 +425,8 @@ static void mpu6050GyroInit(void)
     ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
     delay(100);
     ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x03);      //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
+    ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());  //SMPLRT_DIV    -- SMPLRT_DIV = 7  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
     delay(15); //PLL Settling time when changing CLKSEL is max 10ms.  Use 15ms to be sure
-    ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDivider());  //SMPLRT_DIV    -- SMPLRT_DIV = 7  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
-    delay(15); //PLL Settling time when changing CLKSEL is max 10ms.  Use 15ms to be sure 
     ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, mpuLowPassFilter); //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
     ack = i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);   //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
 
diff --git a/src/main/drivers/accgyro_mpu6050.h b/src/main/drivers/accgyro_mpu6050.h
index b4213c86a0..11213bec29 100644
--- a/src/main/drivers/accgyro_mpu6050.h
+++ b/src/main/drivers/accgyro_mpu6050.h
@@ -42,7 +42,7 @@ enum lpf_e {
     INV_FILTER_10HZ,
     INV_FILTER_5HZ,
     INV_FILTER_2100HZ_NOLPF,
-    NUM_FILTER
+    INV_FILTER_COUNT
 };
 
 bool mpu6050AccDetect(const mpu6050Config_t *config,acc_t *acc);
diff --git a/src/main/drivers/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro_spi_mpu6000.c
index 8200352bbd..8077db4799 100644
--- a/src/main/drivers/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro_spi_mpu6000.c
@@ -298,7 +298,7 @@ bool mpu6000SpiGyroDetect(gyro_t *gyro, uint16_t lpf)
     spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
 
     // Determine the new sample divider
-    mpu6000WriteRegister(MPU6000_SMPLRT_DIV, gyroMPU6xxxGetDivider());
+    mpu6000WriteRegister(MPU6000_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops());
     delayMicroseconds(1);
 
     // Accel and Gyro DLPF Setting
@@ -356,7 +356,9 @@ void checkMPU6000Interrupt(bool *gyroIsUpdated) {
 
 	mpu6000ReadRegister(MPU6000_INT_STATUS, &mpuIntStatus, 1);
 
-	delayMicroseconds(5);
-
-	(mpuIntStatus) ? (*gyroIsUpdated= true) : (*gyroIsUpdated= false);
+    if (mpuIntStatus) {
+        *gyroIsUpdated = true;
+    } else {
+        *gyroIsUpdated = false;
+    }
 }
diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c
index 4d298be9c4..0b19e3c7e5 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@@ -231,7 +231,7 @@ static void mpu6500GyroInit(void)
     mpu6500WriteRegister(MPU6500_RA_GYRO_CFG, INV_FSR_2000DPS << 3);
     mpu6500WriteRegister(MPU6500_RA_ACCEL_CFG, INV_FSR_8G << 3);
     mpu6500WriteRegister(MPU6500_RA_LPF, mpuLowPassFilter);
-    mpu6500WriteRegister(MPU6500_RA_RATE_DIV, 0); // 1kHz S/R
+    mpu6500WriteRegister(MPU6500_RA_RATE_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider drop count
 }
 
 static bool mpu6500GyroRead(int16_t *gyroADC)
@@ -250,9 +250,11 @@ static bool mpu6500GyroRead(int16_t *gyroADC)
 void checkMPU6500Interrupt(bool *gyroIsUpdated) {
 	uint8_t mpuIntStatus;
 
-	mpu6500ReadRegister(MPU6500_INT_STATUS, &mpuIntStatus, 1);
+	mpu6500ReadRegister(MPU6500_RA_INT_STATUS, &mpuIntStatus, 1);
 
-	delayMicroseconds(5);
-
-	(mpuIntStatus) ? (*gyroIsUpdated= true) : (*gyroIsUpdated= false);
+    if (mpuIntStatus) {
+        *gyroIsUpdated = true;
+    } else {
+        *gyroIsUpdated = false;
+    }
 }
diff --git a/src/main/drivers/accgyro_spi_mpu6500.h b/src/main/drivers/accgyro_spi_mpu6500.h
index 6e9ec78b94..a2f8ad4ae0 100755
--- a/src/main/drivers/accgyro_spi_mpu6500.h
+++ b/src/main/drivers/accgyro_spi_mpu6500.h
@@ -25,7 +25,7 @@
 #define MPU6500_RA_ACCEL_CFG                (0x1C)
 #define MPU6500_RA_LPF                      (0x1A)
 #define MPU6500_RA_RATE_DIV                 (0x19)
-#define MPU6500_INT_STATUS                  (0x38)
+#define MPU6500_RA_INT_STATUS               (0x38)
 
 #define MPU6500_WHO_AM_I_CONST              (0x70)
 
diff --git a/src/main/drivers/gyro_sync.c b/src/main/drivers/gyro_sync.c
index b8b6bedfdf..3bd72d53d8 100644
--- a/src/main/drivers/gyro_sync.c
+++ b/src/main/drivers/gyro_sync.c
@@ -29,7 +29,7 @@
 extern gyro_t gyro;
 
 uint32_t targetLooptime;
-static uint8_t mpuDivider;
+static uint8_t mpuDividerDrops;
 
 bool getMpuDataStatus(gyro_t *gyro)
 {
@@ -48,52 +48,73 @@ void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop
     int minLooptime;
 
     if (syncGyroToLoop) {
-#ifdef STM32F303xC
+#if defined(SPRACINGF3) || defined(ALIENWIIF3) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(CHEBUZZF3) || defined(EUSTM32F103RC) || defined(PORT103R) || defined(MOTOLAB)
         if (lpf == INV_FILTER_256HZ_NOLPF2) {
             gyroSamplePeriod = 125;
 
             if(!sensors(SENSOR_ACC)) {
                 minLooptime = 500;   // Max refresh 2khz
-            }
-            else {
+            } else {
                 minLooptime = 625;   // Max refresh 1,6khz
             }
-        }
-        else {
+        } else {
             gyroSamplePeriod = 1000;
             minLooptime = 1000;      // Full sampling
         }
-#elif STM32F10X
+#elif defined(CC3D)
         if (lpf == INV_FILTER_256HZ_NOLPF2) {
             gyroSamplePeriod = 125;
 
             if(!sensors(SENSOR_ACC)) {
-                minLooptime = 625;   // Max refresh 1,33khz
+                minLooptime = 890;   // Max refresh 1,12khz
+            } else {
+                minLooptime = 1000;  // Max refresh 1khz
             }
-            else {
+        } else {
+            gyroSamplePeriod = 1000;
+            minLooptime = 1000;      // Full sampling
+        }
+#elif defined(COLIBRI_RACE)
+        if (lpf == INV_FILTER_256HZ_NOLPF2) {
+            gyroSamplePeriod = 125;
+
+            if(!sensors(SENSOR_ACC)) { // TODO - increase to 8khz when oneshot125 can be limited
+                minLooptime = 250;   // Max refresh 4khz
+            } else {
+                minLooptime = 250;   // Max refresh 4khz
+            }
+        } else {
+            gyroSamplePeriod = 1000;
+            minLooptime = 1000;      // Full sampling
+        }
+#else
+        if (lpf == INV_FILTER_256HZ_NOLPF2) {
+            gyroSamplePeriod = 125;
+
+            if(!sensors(SENSOR_ACC)) {
+                minLooptime = 625;   // Max refresh 1,6khz
+            } else {
                 minLooptime = 1625;  // Max refresh 615hz
             }
-        }
-        else {
+        } else {
             gyroSamplePeriod = 1000;
+
             if(!sensors(SENSOR_ACC)) {
                 minLooptime = 1000;  // Full sampling without ACC
-            }
-            else {
+            } else {
                 minLooptime = 2000;
             }
         }
 #endif
         looptime = constrain(looptime, minLooptime, 4000);
-        mpuDivider  = (looptime + gyroSamplePeriod -1 ) / gyroSamplePeriod - 1;
-        targetLooptime = (mpuDivider + 1) * gyroSamplePeriod;
-    }
-    else {
-    	mpuDivider = 0;
+        mpuDividerDrops  = (looptime + gyroSamplePeriod -1 ) / gyroSamplePeriod - 1;
+        targetLooptime = (mpuDividerDrops + 1) * gyroSamplePeriod;
+    } else {
+    	mpuDividerDrops = 0;
     	targetLooptime = looptime;
     }
 }
 
-uint8_t gyroMPU6xxxGetDivider(void) {
-    return mpuDivider;
+uint8_t gyroMPU6xxxGetDividerDrops(void) {
+    return mpuDividerDrops;
 }
diff --git a/src/main/drivers/gyro_sync.h b/src/main/drivers/gyro_sync.h
index 375d5df2dd..274b97ef40 100644
--- a/src/main/drivers/gyro_sync.h
+++ b/src/main/drivers/gyro_sync.h
@@ -8,5 +8,5 @@
 extern uint32_t targetLooptime;
 
 bool gyroSyncCheckUpdate(void);
-uint8_t gyroMPU6xxxGetDivider(void);
+uint8_t gyroMPU6xxxGetDividerDrops(void);
 void gyroUpdateSampleRate(uint32_t looptime, uint8_t lpf, uint8_t syncGyroToLoop);
diff --git a/src/main/mw.c b/src/main/mw.c
index f5069762a1..8acf582099 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -746,7 +746,7 @@ bool runLoop(uint32_t loopTime) {
         if (gyroSyncCheckUpdate() || (int32_t)(currentTime - (loopTime + GYRO_WATCHDOG_DELAY)) >= 0) {
             loopTrigger = true;
         }
-    } else if ((int32_t)(currentTime - loopTime) >= 0){
+    } else if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0){
         loopTrigger = true;
     }