diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 0480a88925..4b717ef25e 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -70,7 +70,7 @@
 #include "hardware_revision.h"
 #endif
 
-#if ((FLASH_SIZE > 128) && (defined(USE_GYRO_SPI_MPU6500) ||  defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689)))
+#if ((FLASH_SIZE > 128) && (defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689)))
 #define USE_GYRO_SLEW_LIMITER
 #endif
 
@@ -446,8 +446,9 @@ static uint16_t calculateNyquistAdjustedNotchHz(uint16_t notchHz, uint16_t notch
 #if defined(USE_GYRO_SLEW_LIMITER)
 void gyroInitSlewLimiter(gyroSensor_t *gyroSensor) {
 
-    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++)
-    	gyroSensor->gyroDev.gyroADCRawPrevious[axis] = 0;
+    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+        gyroSensor->gyroDev.gyroADCRawPrevious[axis] = 0;
+    }
 }
 #endif
 
@@ -499,7 +500,7 @@ static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)
 static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
 {
 #if defined(USE_GYRO_SLEW_LIMITER)
-	gyroInitSlewLimiter(gyroSensor);
+    gyroInitSlewLimiter(gyroSensor);
 #endif
     gyroInitFilterLpf(gyroSensor, gyroConfig()->gyro_soft_lpf_hz);
     gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
@@ -600,20 +601,20 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
 }
 
 #if defined(USE_GYRO_SLEW_LIMITER)
-int32_t gyroSlewLimiter(int axis, gyroSensor_t *gyroSensor)
+int32_t gyroSlewLimiter(gyroSensor_t *gyroSensor, int axis)
 {
-	int32_t newRawGyro = (int32_t) gyroSensor->gyroDev.gyroADCRaw[axis];
+    int32_t newRawGyro = (int32_t)gyroSensor->gyroDev.gyroADCRaw[axis];
 
-	if (abs(newRawGyro - gyroSensor->gyroDev.gyroADCRawPrevious[axis]) > (1<<14))
-		newRawGyro = gyroSensor->gyroDev.gyroADCRawPrevious[axis];
-	else
-		gyroSensor->gyroDev.gyroADCRawPrevious[axis] = newRawGyro;
+    if (abs(newRawGyro - gyroSensor->gyroDev.gyroADCRawPrevious[axis]) > (1<<14)) {
+        newRawGyro = gyroSensor->gyroDev.gyroADCRawPrevious[axis];
+    } else {
+        gyroSensor->gyroDev.gyroADCRawPrevious[axis] = newRawGyro;
+    }
 
-	return newRawGyro;
+    return newRawGyro;
 }
 #endif
 
-
 void gyroUpdateSensor(gyroSensor_t *gyroSensor)
 {
     if (!gyroSensor->gyroDev.readFn(&gyroSensor->gyroDev)) {
@@ -622,14 +623,14 @@ void gyroUpdateSensor(gyroSensor_t *gyroSensor)
     gyroSensor->gyroDev.dataReady = false;
 
     if (isGyroSensorCalibrationComplete(gyroSensor)) {
-    	// move 16-bit gyro data into 32-bit variables to avoid overflows in calculations
+        // move 16-bit gyro data into 32-bit variables to avoid overflows in calculations
 
-    	gyroSensor->gyroDev.gyroADC[X] = gyroSensor->gyroDev.gyroADCRaw[X] - gyroSensor->gyroDev.gyroZero[X];
-    	gyroSensor->gyroDev.gyroADC[Y] = gyroSensor->gyroDev.gyroADCRaw[Y] - gyroSensor->gyroDev.gyroZero[Y];
+        gyroSensor->gyroDev.gyroADC[X] = gyroSensor->gyroDev.gyroADCRaw[X] - gyroSensor->gyroDev.gyroZero[X];
+        gyroSensor->gyroDev.gyroADC[Y] = gyroSensor->gyroDev.gyroADCRaw[Y] - gyroSensor->gyroDev.gyroZero[Y];
 #if defined(USE_GYRO_SLEW_LIMITER)
-    	gyroSensor->gyroDev.gyroADC[Z] = gyroSlewLimiter(Z, gyroSensor) - gyroSensor->gyroDev.gyroZero[Z];
+        gyroSensor->gyroDev.gyroADC[Z] = gyroSlewLimiter(gyroSensor, Z) - gyroSensor->gyroDev.gyroZero[Z];
 #else
-    	gyroSensor->gyroDev.gyroADC[Z] = gyroSensor->gyroDev.gyroADCRaw[Z] - gyroSensor->gyroDev.gyroZero[Z];
+        gyroSensor->gyroDev.gyroADC[Z] = gyroSensor->gyroDev.gyroADCRaw[Z] - gyroSensor->gyroDev.gyroZero[Z];
 #endif
 
         alignSensors(gyroSensor->gyroDev.gyroADC, gyroSensor->gyroDev.gyroAlign);