diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index 74a4af8aec..27d5f4a0f7 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -425,12 +425,14 @@ static void imuCalculateEstimatedAttitude(void)
     imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
 }
 
-void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t imuUpdateSensors)
+void imuUpdateGyro(void)
 {
-	if (imuUpdateSensors == ONLY_GYRO || imuUpdateSensors == ACC_AND_GYRO) {
-        gyroUpdate();
-    }
-    if (sensors(SENSOR_ACC) && (!imuUpdateSensors == ONLY_GYRO)) {
+    gyroUpdate();
+}
+
+void imuUpdateAcc(rollAndPitchTrims_t *accelerometerTrims)
+{
+    if (sensors(SENSOR_ACC)) {
         updateAccelerationReadings(accelerometerTrims);
         imuCalculateEstimatedAttitude();
     } else {
diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h
index 2fb0f425f4..9c086b04f5 100644
--- a/src/main/flight/imu.h
+++ b/src/main/flight/imu.h
@@ -66,12 +66,6 @@ typedef enum {
     ACCPROC_COPY
 } accProcessorState_e;
 
-typedef enum {
-    ONLY_GYRO = 0,
-    ONLY_ACC,
-    ACC_AND_GYRO
-} imuUpdateMode_e;
-
 typedef struct accProcessor_s {
     accProcessorState_e state;
 } accProcessor_t;
@@ -92,4 +86,5 @@ float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
 int16_t imuCalculateHeading(t_fp_vector *vec);
 
 void imuResetAccelerationSum(void);
-void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t imuUpdateSensors);
+void imuUpdateGyro(void);
+void imuUpdateAcc(rollAndPitchTrims_t *accelerometerTrims);
diff --git a/src/main/mw.c b/src/main/mw.c
index adf5f7c505..acfbe93bcf 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -774,11 +774,11 @@ void loop(void)
 
         haveProcessedRxOnceBeforeLoop = false;
 
+        imuUpdateGyro();
+
         // Determine current flight mode. When no acc needed in pid calculations we should only read gyro to reduce latency
-        if (!flightModeFlags) {
-            imuUpdate(&currentProfile->accelerometerTrims, ONLY_GYRO);  // When no level modes active read only gyro
-        } else {
-            imuUpdate(&currentProfile->accelerometerTrims, ACC_AND_GYRO);  // When level modes active read gyro and acc
+        if (flightModeFlags) {
+            imuUpdateAcc(&currentProfile->accelerometerTrims);  // When level modes active read gyro and acc
         }
 
         // Measure loop rate just after reading the sensors
@@ -859,7 +859,7 @@ void loop(void)
 
         // When no level modes active read acc after motor update
         if (!flightModeFlags) {
-            imuUpdate(&currentProfile->accelerometerTrims, ONLY_ACC);
+        	imuUpdateAcc(&currentProfile->accelerometerTrims);
         }
 
 #ifdef BLACKBOX