diff --git a/baseflight.uvopt b/baseflight.uvopt
index b5eaa7887a..46338fecb6 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -73,7 +73,7 @@
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         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
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@@ -157,6 +157,23 @@
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+          <Type>0</Type>
+          <LineNumber>161</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134240712</Address>
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+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>F:\rc\freeflight\projects\baseflight\src\drv_mpu6050.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
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@@ -277,7 +294,7 @@
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@@ -767,10 +784,10 @@
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@@ -795,10 +812,10 @@
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@@ -853,8 +870,8 @@
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diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index d5d8b93da7..7885150ae7 100644
--- a/obj/baseflight.hex
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diff --git a/obj/baseflight_fy90q.hex b/obj/baseflight_fy90q.hex
index f90a6d5072..e50eb870a3 100644
--- a/obj/baseflight_fy90q.hex
+++ b/obj/baseflight_fy90q.hex
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diff --git a/src/board.h b/src/board.h
index df2d9c9bfe..3bfff8ed8b 100755
--- a/src/board.h
+++ b/src/board.h
@@ -26,6 +26,14 @@ typedef enum {
     SENSOR_GPS = 1 << 4,
 } AvailableSensors;
 
+// Type of accelerometer used/detected
+typedef enum AccelSensors {
+    ACC_DEFAULT = 0,
+    ACC_ADXL345 = 1,
+    ACC_MPU6050 = 2,
+    ACC_MMA8452 = 3,
+} AccelSensors;
+
 typedef enum {
     FEATURE_PPM = 1 << 0,
     FEATURE_VBAT = 1 << 1,
diff --git a/src/cli.c b/src/cli.c
index 57b9e296e5..b6f1c6132e 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -48,7 +48,7 @@ const char *sensorNames[] = {
 
 // 
 const char *accNames[] = {
-    "ADXL345", "MPU6050", "MMA845x", NULL
+    "", "ADXL345", "MPU6050", "MMA845x", NULL
 };
 
 typedef struct {
@@ -97,6 +97,7 @@ const clivalue_t valueTable[] = {
     { "mincommand", VAR_UINT16, &cfg.mincommand, 0, 2000 },
     { "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
     { "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
+    { "retarded_arm", VAR_UINT8, &cfg.retarded_arm, 0, 1 },
     { "failsafe_delay", VAR_UINT8, &cfg.failsafe_delay, 0, 200 },
     { "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
     { "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
@@ -121,8 +122,10 @@ const clivalue_t valueTable[] = {
     { "gimbal_roll_min", VAR_UINT16, &cfg.gimbal_roll_min, 100, 3000 },
     { "gimbal_roll_max", VAR_UINT16, &cfg.gimbal_roll_max, 100, 3000 },
     { "gimbal_roll_mid", VAR_UINT16, &cfg.gimbal_roll_mid, 100, 3000 },
+    { "acc_hardware", VAR_UINT8, &cfg.acc_hardware, 0, 3 },
     { "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 250 },
     { "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
+    { "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 },
     { "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
     { "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
     { "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },
diff --git a/src/config.c b/src/config.c
index 9a967fdd66..8efb56b06c 100755
--- a/src/config.c
+++ b/src/config.c
@@ -13,7 +13,7 @@ config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-uint8_t checkNewConf = 17;
+uint8_t checkNewConf = 18;
 
 void parseRcChannels(const char *input)
 {
@@ -128,7 +128,9 @@ void checkFirstTime(bool reset)
     cfg.accZero[1] = 0;
     cfg.accZero[2] = 0;
     cfg.mag_declination = 0; // For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
-    cfg.acc_lpf_factor = 100;
+    cfg.acc_hardware = ACC_DEFAULT; // default/autodetect
+    cfg.acc_lpf_factor = 4;
+    cfg.gyro_cmpf_factor = 310; // default MWC
     cfg.gyro_lpf = 42;
     cfg.gyro_smoothing_factor = 0x00141403; // default factors of 20, 20, 3 for R/P/Y
     cfg.vbatscale = 110;
@@ -143,6 +145,7 @@ void checkFirstTime(bool reset)
     cfg.midrc = 1500;
     cfg.mincheck = 1100;
     cfg.maxcheck = 1900;
+    cfg.retarded_arm = 0; // disable arm/disarm on roll left/right
 
     // Failsafe Variables
     cfg.failsafe_delay = 10; // 1sec
diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c
index 7dd691d9d5..1245476368 100644
--- a/src/drv_mpu6050.c
+++ b/src/drv_mpu6050.c
@@ -34,6 +34,7 @@
 #define MPU_RA_YA_OFFS_L_TC     0x09
 #define MPU_RA_ZA_OFFS_H        0x0A    //[15:0] ZA_OFFS
 #define MPU_RA_ZA_OFFS_L_TC     0x0B
+#define MPU_RA_PRODUCT_ID       0x0C    // Product ID Register
 #define MPU_RA_XG_OFFS_USRH     0x13    //[15:0] XG_OFFS_USR
 #define MPU_RA_XG_OFFS_USRL     0x14
 #define MPU_RA_YG_OFFS_USRH     0x15    //[15:0] YG_OFFS_USR
@@ -114,6 +115,18 @@
 // #define MPU6050_DLPF_CFG        0   // 256Hz
 #define MPU6050_DLPF_CFG   3        // 42Hz
 
+#define MPU6000ES_REV_C4        0x14
+#define MPU6000ES_REV_C5        0x15
+#define MPU6000ES_REV_D6        0x16
+#define MPU6000ES_REV_D7        0x17
+#define MPU6000ES_REV_D8        0x18
+#define MPU6000_REV_C4          0x54
+#define MPU6000_REV_C5          0x55
+#define MPU6000_REV_D6          0x56
+#define MPU6000_REV_D7          0x57
+#define MPU6000_REV_D8          0x58
+#define MPU6000_REV_D9          0x59
+
 static void mpu6050AccInit(void);
 static void mpu6050AccRead(int16_t * accData);
 static void mpu6050AccAlign(int16_t * accData);
@@ -128,6 +141,7 @@ int16_t dmpGyroData[3];
 #endif
 
 extern uint16_t acc_1G;
+uint8_t mpuProductID = 0;
 
 bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
 {
@@ -143,6 +157,9 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
     if (sig != MPU6050_ADDRESS)
         return false;
 
+    // get chip revision
+    i2cRead(MPU6050_ADDRESS, MPU_RA_PRODUCT_ID, 1, &mpuProductID);
+
     acc->init = mpu6050AccInit;
     acc->read = mpu6050AccRead;
     acc->align = mpu6050AccAlign;
@@ -160,11 +177,15 @@ bool mpu6050Detect(sensor_t * acc, sensor_t * gyro)
 static void mpu6050AccInit(void)
 {
 #ifndef MPU6050_DMP
-    i2cWrite(MPU6050_ADDRESS, 0x1C, 0x10);      // ACCEL_CONFIG  -- AFS_SEL=2 (Full Scale = +/-8G)  ; ACCELL_HPF=0   //note something is wrong in the spec.
+    // Product ID detection code from eosBandi (or rather, DIYClones). This doesn't cover product ID for MPU6050 as far as I can tell
+    if ((mpuProductID == MPU6000ES_REV_C4) || (mpuProductID == MPU6000ES_REV_C5) || (mpuProductID == MPU6000_REV_C4)   || (mpuProductID == MPU6000_REV_C5)) {
+        // Accel scale 8g (4096 LSB/g)
+        // Rev C has different scaling than rev D
+        i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 1 << 3);
+    } else {
+        i2cWrite(MPU6050_ADDRESS, MPU_RA_ACCEL_CONFIG, 2 << 3);
+    }
 #endif
-    // note: something seems to be wrong in the spec here. With AFS=2 1G = 4096 but according to my measurement: 1G=2048 (and 2048/8 = 256)
-    // confirmed here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1080&start=10#p7480
-    // seems to be not a problem on MPU6000 lol
     acc_1G = 1023;
 }
 
@@ -197,12 +218,12 @@ static void mpu6050AccAlign(int16_t * accData)
 static void mpu6050GyroInit(void)
 {
 #ifndef MPU6050_DMP
-    i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
     delay(5);
-    i2cWrite(MPU6050_ADDRESS, 0x19, 0x00);      //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
-    i2cWrite(MPU6050_ADDRESS, 0x6B, 0x03);      //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
-    i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG);  //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
-    i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18);      //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_SMPLRT_DIV, 0x00);      //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+    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)
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_CONFIG, MPU6050_DLPF_CFG);  //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
+    i2cWrite(MPU6050_ADDRESS, MPU_RA_GYRO_CONFIG, 0x18);      //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
 #endif
 }
 
diff --git a/src/imu.c b/src/imu.c
index 522526af5e..3a55f8856b 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -121,7 +121,7 @@ void computeIMU(void)
 /* Increasing this value would reduce and delay Acc influence on the output of the filter*/
 /* Default WMC value: 300*/
 // #define GYR_CMPF_FACTOR 310.0f
-#define GYR_CMPF_FACTOR 500.0f
+// #define GYR_CMPF_FACTOR 500.0f
 
 /* Set the Gyro Weight for Gyro/Magnetometer complementary filter */
 /* Increasing this value would reduce and delay Magnetometer influence on the output of the filter*/
@@ -130,7 +130,7 @@ void computeIMU(void)
 
 //****** end of advanced users settings *************
 
-#define INV_GYR_CMPF_FACTOR   (1.0f / (GYR_CMPF_FACTOR  + 1.0f))
+#define INV_GYR_CMPF_FACTOR   (1.0f / ((float)cfg.gyro_cmpf_factor + 1.0f))
 #define INV_GYR_CMPFM_FACTOR  (1.0f / (GYR_CMPFM_FACTOR + 1.0f))
 
 #define GYRO_SCALE ((1998 * M_PI)/((32767.0f / 4.0f ) * 180.0f * 1000000.0f))     // 32767 / 16.4lsb/dps for MPU3000
@@ -221,7 +221,7 @@ static void getEstimatedAttitude(void)
     // To do that, we just skip filter, as EstV already rotated by Gyro
     if ((36 < accMag && accMag < 196) || smallAngle25) {
         for (axis = 0; axis < 3; axis++)
-            EstG.A[axis] = (EstG.A[axis] * GYR_CMPF_FACTOR + accSmooth[axis]) * INV_GYR_CMPF_FACTOR;
+            EstG.A[axis] = (EstG.A[axis] * (float)cfg.gyro_cmpf_factor + accSmooth[axis]) * INV_GYR_CMPF_FACTOR;
     }
 
     if (sensors(SENSOR_MAG)) {
diff --git a/src/mw.c b/src/mw.c
index f52e97a447..e5cd43917d 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -326,10 +326,10 @@ void loop(void)
                 } else if (armed)
                     armed = 0;
                 rcDelayCommand = 0;
-            } else if ((rcData[YAW] < cfg.mincheck || rcData[ROLL] < cfg.mincheck) && armed == 1) {
+            } else if ((rcData[YAW] < cfg.mincheck || rcData[ROLL] < cfg.mincheck) && armed == 1 && cfg.retarded_arm == 1) {
                 if (rcDelayCommand == 20)
                     armed = 0;  // rcDelayCommand = 20 => 20x20ms = 0.4s = time to wait for a specific RC command to be acknowledged
-            } else if ((rcData[YAW] > cfg.maxcheck || rcData[ROLL] > cfg.maxcheck) && rcData[PITCH] < cfg.maxcheck && armed == 0 && calibratingG == 0 && calibratedACC == 1) {
+            } else if ((rcData[YAW] > cfg.maxcheck || rcData[ROLL] > cfg.maxcheck) && rcData[PITCH] < cfg.maxcheck && armed == 0 && calibratingG == 0 && calibratedACC == 1  && cfg.retarded_arm == 1) {
                 if (rcDelayCommand == 20) {
                     armed = 1;
                     headFreeModeHold = heading;
diff --git a/src/mw.h b/src/mw.h
index 5a70f66a27..35f04ae43e 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -53,13 +53,6 @@ typedef enum GimbalFlags {
     GIMBAL_DISABLEAUX34 = 1 << 2,
 } GimbalFlags;
 
-// Type of accelerometer used
-typedef enum AccelSensors {
-    ADXL345,
-    MPU6050,
-    MMA845x
-} AccelSensors;
-
 /*********** RC alias *****************/
 #define ROLL       0
 #define PITCH      1
@@ -120,8 +113,10 @@ typedef struct config_t {
     int16_t accTrim[2];
 
     // sensor-related stuff
+    uint8_t acc_hardware;                   // Which acc hardware to use on boards with more than one device
     uint8_t acc_lpf_factor;                 // Set the Low Pass Filter factor for ACC. Increasing this value would reduce ACC noise (visible in GUI), but would increase ACC lag time. Zero = no filter
     uint16_t gyro_lpf;                      // mpuX050 LPF setting
+    uint16_t gyro_cmpf_factor;              // Set the Gyro Weight for Gyro/Acc complementary filter. Increasing this value would reduce and delay Acc influence on the output of the filter.
     uint32_t gyro_smoothing_factor;         // How much to smoothen with per axis (32bit value with Roll, Pitch, Yaw in bits 24, 16, 8 respectively
 
     uint16_t activate[CHECKBOXITEMS];       // activate switches
@@ -137,6 +132,7 @@ typedef struct config_t {
     uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
     uint16_t mincheck;                      // minimum rc end
     uint16_t maxcheck;                      // maximum rc end
+    uint8_t retarded_arm;                   // allow disarsm/arm on throttle down + roll left/right
     
     // Failsafe related configuration
     uint8_t failsafe_delay;                 // Guard time for failsafe activation after signal lost. 1 step = 0.1sec - 1sec in example (10)
diff --git a/src/sensors.c b/src/sensors.c
index 43ecb448b0..2fd200feae 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -17,9 +17,9 @@ extern uint16_t batteryWarningVoltage;
 extern uint8_t batteryCellCount;
 extern float magneticDeclination;
 
-sensor_t acc;                   // acc access functions
-sensor_t gyro;                  // gyro access functions
-uint8_t accHardware = 0;        // which accel chip is used.
+sensor_t acc;                       // acc access functions
+sensor_t gyro;                      // gyro access functions
+uint8_t accHardware = ACC_DEFAULT;  // which accel chip is used/detected
 
 #ifdef FY90Q
 // FY90Q analog gyro/acc
@@ -32,50 +32,74 @@ void sensorsAutodetect(void)
 void sensorsAutodetect(void)
 {
     int16_t deg, min;
-
     drv_adxl345_config_t acc_params;
+    bool haveMpu6k = false;
 
-    // configure parameters for ADXL345 driver
-    acc_params.useFifo = false;
-    acc_params.dataRate = 800; // unused currently
-
-    // Detect what's available
-    if (!adxl345Detect(&acc_params, &acc))
-        sensorsClear(SENSOR_ACC);
-    if (!bmp085Init())
-        sensorsClear(SENSOR_BARO);
-    if (!hmc5883lDetect())
-        sensorsClear(SENSOR_MAG);
-
-    // Init sensors
-    if (sensors(SENSOR_ACC)) {
-        acc.init();
-        accHardware = ADXL345;
-    }
-    if (sensors(SENSOR_BARO))
-        bmp085Init();
-
-    // special case for supported gyros - MPU3050 and MPU6050
-    if (mpu6050Detect(&acc, &gyro)) { // first, try MPU6050, and re-enable acc (if ADXL345 is missing) since this chip has it built in
-        sensorsSet(SENSOR_ACC);
-        acc.init();
-        accHardware = MPU6050;
+    // Autodetect gyro hardware. We have MPU3050 or MPU6050.
+    if (mpu6050Detect(&acc, &gyro)) {
+        // this filled up  acc.* struct with init values
+        haveMpu6k = true;
     } else if (!mpu3050Detect(&gyro)) {
         // if this fails, we get a beep + blink pattern. we're doomed, no gyro or i2c error.
         failureMode(3);
     }
 
-    // Try to init MMA8452
-    if (mma8452Detect(&acc)) {
-        sensorsSet(SENSOR_ACC);
-        acc.init();
-        accHardware = MMA845x;
+    // Accelerometer. Fuck it. Let user break shit.
+retry:
+    switch (cfg.acc_hardware) {
+        case 0: // autodetect
+        case 1: // ADXL345
+            acc_params.useFifo = false;
+            acc_params.dataRate = 800; // unused currently
+            if (adxl345Detect(&acc_params, &acc))
+                accHardware = ACC_ADXL345;
+            if (cfg.acc_hardware == ACC_ADXL345)
+                break;
+            ; // fallthrough
+       case 2: // MPU6050
+            if (haveMpu6k) {
+                mpu6050Detect(&acc, &gyro); // yes, i'm rerunning it again.  re-fill acc struct
+                accHardware = ACC_MPU6050;
+                if (cfg.acc_hardware == ACC_MPU6050)
+                    break;
+            }
+            ; // fallthrough
+        case 3: // MMA8452
+            if (mma8452Detect(&acc)) {
+                accHardware = ACC_MMA8452;
+                if (cfg.acc_hardware == ACC_MMA8452)
+                    break;
+            }
     }
 
+    // Found anything? Check if user fucked up or ACC is really missing.
+    if (accHardware == ACC_DEFAULT) {
+        if (cfg.acc_hardware > ACC_DEFAULT) {
+            // Nothing was found and we have a forced sensor type. Stupid user probably chose a sensor that isn't present.
+            cfg.acc_hardware = ACC_DEFAULT;
+            goto retry;
+        } else {
+            // We're really screwed
+            sensorsClear(SENSOR_ACC);
+        }
+    }
+
+    // Detect what else is available
+    if (!bmp085Init())
+        sensorsClear(SENSOR_BARO);
+    if (!hmc5883lDetect())
+        sensorsClear(SENSOR_MAG);
+
+    // Now time to init them, acc first
+    if (sensors(SENSOR_ACC))
+        acc.init();
+    if (sensors(SENSOR_BARO))
+        bmp085Init();
     // this is safe because either mpu6050 or mpu3050 sets it, and in case of fail, none do.
     gyro.init();
     // todo: this is driver specific :(
-    mpu3050Config(cfg.gyro_lpf);
+    if (!haveMpu6k)
+        mpu3050Config(cfg.gyro_lpf);
 
     // calculate magnetic declination
     deg = cfg.mag_declination / 100;
@@ -252,15 +276,6 @@ static void GYRO_Common(void)
     static int32_t g[3];
     uint8_t axis;
 
-#if defined MMGYRO       
-    // Moving Average Gyros by Magnetron1
-    //---------------------------------------------------
-    static int16_t mediaMobileGyroADC[3][MMGYROVECTORLENGTH];
-    static int32_t mediaMobileGyroADCSum[3];
-    static uint8_t mediaMobileGyroIDX;
-    //---------------------------------------------------
-#endif
-
     if (calibratingG > 0) {
         for (axis = 0; axis < 3; axis++) {
             // Reset g[axis] at start of calibration
@@ -279,25 +294,12 @@ static void GYRO_Common(void)
         calibratingG--;
     }
 
-#ifdef MMGYRO
-    mediaMobileGyroIDX = ++mediaMobileGyroIDX % MMGYROVECTORLENGTH;
-    for (axis = 0; axis < 3; axis++) {
-        gyroADC[axis]  -= gyroZero[axis];
-        mediaMobileGyroADCSum[axis] -= mediaMobileGyroADC[axis][mediaMobileGyroIDX];
-        //anti gyro glitch, limit the variation between two consecutive readings
-        mediaMobileGyroADC[axis][mediaMobileGyroIDX] = constrain(gyroADC[axis], previousGyroADC[axis] - 800, previousGyroADC[axis] + 800);
-        mediaMobileGyroADCSum[axis] += mediaMobileGyroADC[axis][mediaMobileGyroIDX];
-        gyroADC[axis] = mediaMobileGyroADCSum[axis] / MMGYROVECTORLENGTH;
-        previousGyroADC[axis] = gyroADC[axis];
-    }
-#else
     for (axis = 0; axis < 3; axis++) {
         gyroADC[axis] -= gyroZero[axis];
         //anti gyro glitch, limit the variation between two consecutive readings
         gyroADC[axis] = constrain(gyroADC[axis], previousGyroADC[axis] - 800, previousGyroADC[axis] + 800);
         previousGyroADC[axis] = gyroADC[axis];
     }
-#endif
 }
 
 void Gyro_getADC(void)