diff --git a/baseflight.uvopt b/baseflight.uvopt
index c8e6bccdc6..fe84d9cc8d 100755
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diff --git a/obj/baseflight.hex b/obj/baseflight.hex
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diff --git a/obj/baseflight_fy90q.hex b/obj/baseflight_fy90q.hex
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+:10A3B00078006661696C736166655F64656C61797C
+:10A3C000006661696C736166655F6F66665F646590
+:10A3D0006C617900F4A30008000000200403000071
+:10A3E0001E930008C8A40008040300209C14000069
+:10A3F0001C95000841132EA01B086A041AA5041A14
+:10A400002B041A320413CF9F1B08CA041A1F0C1AFC
+:10A41000C7081A9F081AD2081A7B081AAB041AE652
+:10A420000C1A4A081AF3081AC004411A58101A8F55
+:10A43000041A39041A5C041A70041A94041AFF20CE
+:10A440001A07081A16041A8B045ADD301AD9081A8A
+:10A4500065101AEF085A851C81021F100243011271
+:10A4600004CBDC05020120092C30028C030285019B
+:10A4700022403A020812043A040812083A08081264
+:10A480000C22105A042019083920190839201908FB
+:10A4900029201334081B4038041A3C0419191B40A6
+:10A4A00034181A38041A3C041931193CB13BA24A39
+:10A4B0006139FB380B020304060708090204066D24
+:08A4C00029106914410000009D
 :04000005080000ED02
 :00000001FF
diff --git a/src/drv_mpu6050.c b/src/drv_mpu6050.c
index 208f73975c..7dd691d9d5 100644
--- a/src/drv_mpu6050.c
+++ b/src/drv_mpu6050.c
@@ -111,7 +111,8 @@
 #define MPU_RA_WHO_AM_I         0x75
 
 #define MPU6050_SMPLRT_DIV      0       //8000Hz
-#define MPU6050_DLPF_CFG        0
+// #define MPU6050_DLPF_CFG        0   // 256Hz
+#define MPU6050_DLPF_CFG   3        // 42Hz
 
 static void mpu6050AccInit(void);
 static void mpu6050AccRead(int16_t * accData);
@@ -164,7 +165,7 @@ static void mpu6050AccInit(void)
     // note: something seems to be wrong in the spec here. With AFS=2 1G = 4096 but according to my measurement: 1G=2048 (and 2048/8 = 256)
     // confirmed here: http://www.multiwii.com/forum/viewtopic.php?f=8&t=1080&start=10#p7480
     // seems to be not a problem on MPU6000 lol
-    acc_1G = 512; // 1023;
+    acc_1G = 1023;
 }
 
 static void mpu6050AccRead(int16_t * accData)
@@ -199,8 +200,8 @@ static void mpu6050GyroInit(void)
     i2cWrite(MPU6050_ADDRESS, 0x6B, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
     delay(5);
     i2cWrite(MPU6050_ADDRESS, 0x19, 0x00);      //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
-    i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG);  //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
     i2cWrite(MPU6050_ADDRESS, 0x6B, 0x03);      //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
+    i2cWrite(MPU6050_ADDRESS, 0x1A, MPU6050_DLPF_CFG);  //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
     i2cWrite(MPU6050_ADDRESS, 0x1B, 0x18);      //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
 #endif
 }
diff --git a/src/mw.c b/src/mw.c
index baa35df577..f52e97a447 100755
--- a/src/mw.c
+++ b/src/mw.c
@@ -248,6 +248,11 @@ void computeRC(void)
     }
 }
 
+#if 0
+uint32_t trollTime = 0;
+uint16_t cn = 0xffff, cx = 0x0;
+#endif
+
 void loop(void)
 {
     static uint8_t rcDelayCommand;      // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
@@ -603,4 +608,15 @@ void loop(void)
     mixTable();
     writeServos();
     writeMotors();
+
+#if 0
+    while (micros() < trollTime + 2000);
+    LED0_TOGGLE;
+    {
+        if (cycleTime < cn)
+            cn = cycleTime;
+        if (cycleTime > cx)
+            cx = cycleTime;
+    }
+#endif
 }