diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index 12fbfe7cfe..f7c115511e 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -157,9 +157,9 @@ enum gyro_fsr_e {
 };
 
 enum fchoice_b {
-    FCB_DISABLED = 0,
-    FCB_8800_32,
-    FCB_3600_32
+    FCB_DISABLED = 0x00,
+    FCB_8800_32 = 0x01,
+    FCB_3600_32 = 0x02
 };
 
 enum clock_sel_e {
diff --git a/src/main/drivers/accgyro/accgyro_spi_icm20689.c b/src/main/drivers/accgyro/accgyro_spi_icm20689.c
index a76c0a0e27..8df14fa1b1 100644
--- a/src/main/drivers/accgyro/accgyro_spi_icm20689.c
+++ b/src/main/drivers/accgyro/accgyro_spi_icm20689.c
@@ -126,7 +126,16 @@ void icm20689GyroInit(gyroDev_t *gyro)
 //    delay(100);
     spiBusWriteRegister(&gyro->bus, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
     delay(15);
-    const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
+    uint8_t raGyroConfigData = gyro->gyroRateKHz = INV_FSR_2000DPS << 3;
+    if (gyro->gyroRateKHz > GYRO_RATE_8_kHz) {
+        // use otherwise redundant LPF value to configure FCHOICE_B
+        // see REGISTER 27 – GYROSCOPE CONFIGURATION in datasheet
+        if (gyro->lpf==GYRO_LPF_NONE) {
+            raGyroConfigData |= FCB_8800_32;
+        } else {
+            raGyroConfigData |= FCB_3600_32;
+        }
+    }
     spiBusWriteRegister(&gyro->bus, MPU_RA_GYRO_CONFIG, raGyroConfigData);
     delay(15);
     spiBusWriteRegister(&gyro->bus, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);