diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index 63158f451c..962d9e562a 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -298,11 +298,13 @@ static void imuCalculateEstimatedAttitude(void)
     imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
 }
 
-void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
+void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
 {
-    static int16_t gyroYawSmooth = 0;
-
     gyroUpdate();
+    gyroData[FD_ROLL] = gyroADC[FD_ROLL];
+    gyroData[FD_PITCH] = gyroADC[FD_PITCH];
+    gyroData[FD_YAW] = gyroADC[FD_YAW];
+
     if (sensors(SENSOR_ACC)) {
         updateAccelerationReadings(accelerometerTrims); // TODO rename to accelerometerUpdate and rename many other 'Acceleration' references to be 'Accelerometer'
         imuCalculateEstimatedAttitude();
@@ -311,16 +313,6 @@ void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
         accADC[Y] = 0;
         accADC[Z] = 0;
     }
-
-    gyroData[FD_ROLL] = gyroADC[FD_ROLL];
-    gyroData[FD_PITCH] = gyroADC[FD_PITCH];
-
-    if (mixerMode == MIXER_TRI) {
-        gyroData[FD_YAW] = (gyroYawSmooth * 2 + gyroADC[FD_YAW]) / 3;
-        gyroYawSmooth = gyroData[FD_YAW];
-    } else {
-        gyroData[FD_YAW] = gyroADC[FD_YAW];
-    }
 }
 
 int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)
diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h
index afd34566d4..6cb95d7c0d 100644
--- a/src/main/flight/imu.h
+++ b/src/main/flight/imu.h
@@ -62,7 +62,7 @@ void imuConfigure(
 );
 
 void calculateEstimatedAltitude(uint32_t currentTime);
-void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode);
+void imuUpdate(rollAndPitchTrims_t *accelerometerTrims);
 float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
 int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
 float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
diff --git a/src/main/mw.c b/src/main/mw.c
index e00de99408..111841cbce 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -720,7 +720,7 @@ void loop(void)
     if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
         loopTime = currentTime + masterConfig.looptime;
 
-        imuUpdate(&currentProfile->accelerometerTrims, masterConfig.mixerMode);
+        imuUpdate(&currentProfile->accelerometerTrims);
 
         // Measure loop rate just after reading the sensors
         currentTime = micros();