diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 619b0175ef..c75dc87914 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -746,7 +746,7 @@ static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibrati
 
 static uint16_t gyroCalculateCalibratingCycles(void)
 {
-    return (CALIBRATING_GYRO_CYCLES / gyro.targetLooptime) * CALIBRATING_GYRO_CYCLES;
+    return (CALIBRATING_GYRO_TIME_US / gyro.targetLooptime);
 }
 
 static bool isOnFirstGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
@@ -789,7 +789,7 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
             gyroSensor->gyroDev.gyroZero[axis] = 0;
         }
 
-        // Sum up CALIBRATING_GYRO_CYCLES readings
+        // Sum up CALIBRATING_GYRO_TIME_US readings
         gyroSensor->calibration.sum[axis] += gyroSensor->gyroDev.gyroADCRaw[axis];
         devPush(&gyroSensor->calibration.var[axis], gyroSensor->gyroDev.gyroADCRaw[axis]);
 
diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h
index 556ef9d4e8..60ecaaff5f 100644
--- a/src/main/sensors/sensors.h
+++ b/src/main/sensors/sensors.h
@@ -40,7 +40,7 @@ typedef union flightDynamicsTrims_u {
     flightDynamicsTrims_def_t values;
 } flightDynamicsTrims_t;
 
-#define CALIBRATING_GYRO_CYCLES             10000
+#define CALIBRATING_GYRO_TIME_US            3000000
 #define CALIBRATING_ACC_CYCLES              400
 #define CALIBRATING_BARO_CYCLES             200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles