diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 4422c266b9..8f62508262 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -109,7 +109,7 @@ void setGyroSamplingSpeed(uint16_t looptime) {
     if (looptime != targetLooptime) {
 #ifdef STM32F303xC
         if (looptime < 1000) {
-            masterConfig.gyro_lpf = 1;
+            masterConfig.gyro_lpf = 0;
             gyroSampleRate = 125;
             maxDivider = 8;
         } else {
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 507841dc92..e1df211c2f 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -208,7 +208,7 @@ void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t dea
 float calculateVbatPidCompensation(void) {
 	float batteryScaler =  1.0f;
     if (batteryConfig->vbatPidCompensation && feature(FEATURE_VBAT) && batteryCellCount > 1) {
-        batteryScaler =  1.0f + constrainf(1.0f - (batteryWarningVoltage / vbat), 0.75f, 1.0f);   // Up to 25% increment. Should be fine for 3,3 to 4,2 difference
+        batteryScaler =  (constrainf(batteryWarningVoltage / vbat, 0.75f, 1.0f)) / 0.75f;   // Should be fine for 3,3 to 4,2 difference
     }
 
     return batteryScaler;