diff --git a/src/main/scheduler/scheduler.c b/src/main/scheduler/scheduler.c
index 0fd8b7facd..15641a4b6b 100644
--- a/src/main/scheduler/scheduler.c
+++ b/src/main/scheduler/scheduler.c
@@ -321,7 +321,7 @@ FAST_CODE void scheduler(void)
     uint16_t selectedTaskDynamicPriority = 0;
     uint16_t waitingTasks = 0;
     bool realtimeTaskRan = false;
-    timeDelta_t gyroTaskDelayUs;
+    timeDelta_t gyroTaskDelayUs = 0;
 
     if (gyroEnabled) {
         // Realtime gyro/filtering/PID tasks get complete priority
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index d97b25a7f6..403b7eee40 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -1320,10 +1320,6 @@ void initYawSpinRecovery(int maxYawRate)
     int threshold;
 
     switch (gyroConfig()->yaw_spin_recovery) {
-    case YAW_SPIN_RECOVERY_OFF:
-        enabledFlag = false;
-        threshold = YAW_SPIN_RECOVERY_THRESHOLD_MAX;
-        break;
     case YAW_SPIN_RECOVERY_ON:
         enabledFlag = true;
         threshold = gyroConfig()->yaw_spin_threshold;
@@ -1333,6 +1329,11 @@ void initYawSpinRecovery(int maxYawRate)
         const int overshootAllowance = MAX(maxYawRate / 4, 200); // Allow a 25% or minimum 200dps overshoot tolerance
         threshold = constrain(maxYawRate + overshootAllowance, YAW_SPIN_RECOVERY_THRESHOLD_MIN, YAW_SPIN_RECOVERY_THRESHOLD_MAX);
         break;
+    case YAW_SPIN_RECOVERY_OFF:
+    default:
+        enabledFlag = false;
+        threshold = YAW_SPIN_RECOVERY_THRESHOLD_MAX;
+        break;
     }
 
     yawSpinRecoveryEnabled = enabledFlag;