diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index 32bbc19069..2ad65b488c 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -1054,6 +1054,10 @@ void validateAndFixGyroConfig(void)
 #endif
     }
 
+#if !defined(GYRO_USES_SPI) || !defined(USE_MPU_DATA_READY_SIGNAL)
+    gyroConfig()->gyro_isr_update = false;
+#endif
+
     if (gyroConfig()->gyro_lpf != GYRO_LPF_256HZ && gyroConfig()->gyro_lpf != GYRO_LPF_NONE) {
         pidConfig()->pid_process_denom = 1; // When gyro set to 1khz always set pid speed 1:1 to sampling speed
         gyroConfig()->gyro_sync_denom = 1;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 8721a8e533..f7b6debf5c 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -66,7 +66,11 @@
 
 gyro_t gyro;                      // gyro access functions
 
+#if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)
+static volatile int32_t gyroADC[XYZ_AXIS_COUNT];
+#else
 static int32_t gyroADC[XYZ_AXIS_COUNT];
+#endif
 
 static int32_t gyroZero[XYZ_AXIS_COUNT] = { 0, 0, 0 };
 static const gyroConfig_t *gyroConfig;
@@ -391,7 +395,8 @@ static bool gyroUpdateISR(gyroDev_t* gyroDev)
         float gyroADCf = (float)gyroADC[axis] * gyroDev->scale;
         gyroADCf = softLpfFilterApplyFn(softLpfFilter[axis], gyroADCf);
         gyroADCf = notchFilter1ApplyFn(notchFilter1[axis], gyroADCf);
-        gyro.gyroADCf[axis] = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf);
+        gyroADCf = notchFilter2ApplyFn(notchFilter2[axis], gyroADCf);
+        gyro.gyroADCf[axis] = gyroADCf;
     }
     return true;
 }