diff --git a/src/main/drivers/accgyro.h b/src/main/drivers/accgyro.h
index f6f9570cdb..eb90ee217f 100644
--- a/src/main/drivers/accgyro.h
+++ b/src/main/drivers/accgyro.h
@@ -26,10 +26,6 @@
 #define MPU_I2C_INSTANCE I2C_DEVICE
 #endif
 
-#if defined(USE_GYRO_SPI_MPU6500) ||  defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
-#define GYRO_SUPPORTS_32KHZ
-#endif
-
 #define GYRO_LPF_256HZ      0
 #define GYRO_LPF_188HZ      1
 #define GYRO_LPF_98HZ       2
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 15c791c175..acc0668eaf 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -1047,17 +1047,12 @@ void validateAndFixGyroConfig(void)
     float samplingTime = 0.000125f;
 
     if (gyroConfig()->gyro_use_32khz) {
-#ifdef GYRO_SUPPORTS_32KHZ
         samplingTime = 0.00003125;
-        // F1 and F3 can't handle high pid speed.
+        // F1 and F3 can't handle high pid speed
 #if defined(STM32F1)
         pidConfig()->pid_process_denom = constrain(pidConfig()->pid_process_denom, 16, 16);
-#endif
-#if defined(STM32F3)
+#elif defined(STM32F3)
         pidConfig()->pid_process_denom = constrain(pidConfig()->pid_process_denom, 4, 16);
-#endif
-#else
-        gyroConfig()->gyro_use_32khz = false;
 #endif
     }
 
diff --git a/src/main/fc/serial_cli.c b/src/main/fc/serial_cli.c
index 9c9626207b..63a786f9a9 100755
--- a/src/main/fc/serial_cli.c
+++ b/src/main/fc/serial_cli.c
@@ -617,9 +617,7 @@ const clivalue_t valueTable[] = {
 #if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
     { "gyro_isr_update",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &gyroConfig()->gyro_isr_update, .config.lookup = { TABLE_OFF_ON } },
 #endif
-#ifdef GYRO_SUPPORTS_32KHZ
     { "gyro_use_32khz",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &gyroConfig()->gyro_use_32khz, .config.lookup = { TABLE_OFF_ON } },
-#endif
     { "gyro_lowpass_type",          VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &gyroConfig()->gyro_soft_lpf_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
     { "gyro_lowpass",               VAR_UINT8  | MASTER_VALUE,  &gyroConfig()->gyro_soft_lpf_hz, .config.minmax = { 0,  255 } },
     { "gyro_notch1_hz",             VAR_UINT16 | MASTER_VALUE,  &gyroConfig()->gyro_soft_notch_hz_1, .config.minmax = { 0,  1000 } },
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 6570b862a8..9d0a488809 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -242,6 +242,22 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
     if (!gyroDetect(&gyro.dev)) {
         return false;
     }
+
+    switch (detectedSensors[SENSOR_INDEX_GYRO]) {
+    default:
+        // gyro does not support 32kHz
+        // cast away constness, legitimate as this is cross-validation
+        ((gyroConfig_t*)gyroConfig)->gyro_use_32khz = false;
+        break;
+    case GYRO_MPU6500:
+    case GYRO_MPU9250:
+    case GYRO_ICM20689:
+    case GYRO_ICM20608G:
+    case GYRO_ICM20602:
+        // do nothing, as gyro supports 32kHz
+        break;
+    }
+
     // Must set gyro sample rate before initialisation
     gyro.targetLooptime = gyroSetSampleRate(&gyro.dev, gyroConfig->gyro_lpf, gyroConfig->gyro_sync_denom, gyroConfig->gyro_use_32khz);
     gyro.dev.lpf = gyroConfig->gyro_lpf;