diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index 06ee84cbb9..7c29d87129 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -449,7 +449,9 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
     float gyroAverage[XYZ_AXIS_COUNT];
     gyroGetAccumulationAverage(gyroAverage);
     float accAverage[XYZ_AXIS_COUNT];
-    accGetAccumulationAverage(accAverage);
+    if (!accGetAccumulationAverage(accAverage)) {
+        useAcc = false;
+    }
     imuMahonyAHRSupdate(deltaT * 1e-6f,
                         DEGREES_TO_RADIANS(gyroAverage[X]), DEGREES_TO_RADIANS(gyroAverage[Y]), DEGREES_TO_RADIANS(gyroAverage[Z]),
                         useAcc, accAverage[X], accAverage[Y], accAverage[Z],
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 186f228b67..38db3c8179 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -69,9 +69,8 @@
 
 acc_t acc;                       // acc access functions
 
-static float accumulator[XYZ_AXIS_COUNT];
-static timeUs_t accumulatedTimeUs;
-static timeUs_t lastTimeSampledUs;
+static float accumulatedMeasurements[XYZ_AXIS_COUNT];
+static int accumulatedMeasurementCount;
 
 static uint16_t calibratingA = 0;      // the calibration is done is the main loop. Calibrating decreases at each cycle down to 0, then we enter in a normal mode.
 
@@ -469,6 +468,8 @@ static void applyAccelerationTrims(const flightDynamicsTrims_t *accelerationTrim
 
 void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
 {
+    UNUSED(currentTimeUs);
+
     if (!acc.dev.readFn(&acc.dev)) {
         return;
     }
@@ -497,28 +498,25 @@ void accUpdate(timeUs_t currentTimeUs, rollAndPitchTrims_t *rollAndPitchTrims)
 
     applyAccelerationTrims(accelerationTrims);
 
-    const timeDelta_t sampleDeltaUs = currentTimeUs - lastTimeSampledUs;
-    lastTimeSampledUs = currentTimeUs;
-    accumulatedTimeUs += sampleDeltaUs;
+    ++accumulatedMeasurementCount;
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        accumulator[axis] += acc.accSmooth[axis] * sampleDeltaUs;
+        accumulatedMeasurements[axis] += acc.accSmooth[axis];
     }
 }
 
-bool accGetAccumulationAverage(float *accumulation)
+bool accGetAccumulationAverage(float *accumulationAverage)
 {
-    if (accumulatedTimeUs > 0) {
-        const float accumulatedTimeS = accumulatedTimeUs * 1e-6;
+    if (accumulatedMeasurementCount > 0) {
         // If we have gyro data accumulated, calculate average rate that will yield the same rotation
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            accumulation[axis] = accumulator[axis] / accumulatedTimeS;
-            accumulator[axis] = 0.0f;
+            accumulationAverage[axis] = accumulatedMeasurements[axis] / accumulatedMeasurementCount;
+            accumulatedMeasurements[axis] = 0.0f;
         }
-        accumulatedTimeUs = 0;
+        accumulatedMeasurementCount = 0;
         return true;
     } else {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            accumulation[axis] = 0.0f;
+            accumulationAverage[axis] = 0.0f;
         }
         return false;
     }
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index e90e36ca17..596edf143a 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -77,9 +77,9 @@
 gyro_t gyro;
 static uint8_t gyroDebugMode;
 
-static float accumulator[XYZ_AXIS_COUNT];
-static timeUs_t accumulatedTimeUs;
-static timeUs_t lastTimeSampledUs;
+static float accumulatedMeasurements[XYZ_AXIS_COUNT];
+static timeUs_t accumulatedMeasurementTimeUs;
+static timeUs_t accumulationLastTimeSampledUs;
 
 typedef struct gyroCalibration_s {
     int32_t sum[XYZ_AXIS_COUNT];
@@ -649,9 +649,9 @@ static void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
     gyroDataAnalyse(&gyroSensor->gyroDev, gyroSensor->notchFilterDyn);
 #endif
 
-    const timeDelta_t sampleDeltaUs = currentTimeUs - lastTimeSampledUs;
-    lastTimeSampledUs = currentTimeUs;
-    accumulatedTimeUs += sampleDeltaUs;
+    const timeDelta_t sampleDeltaUs = currentTimeUs - accumulationLastTimeSampledUs;
+    accumulationLastTimeSampledUs = currentTimeUs;
+    accumulatedMeasurementTimeUs += sampleDeltaUs;
 
     if (gyroDebugMode == DEBUG_NONE) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
@@ -664,7 +664,7 @@ static void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
             gyroADCf = gyroSensor->notchFilter2ApplyFn(&gyroSensor->notchFilter2[axis], gyroADCf);
             gyroADCf = gyroSensor->softLpfFilterApplyFn(gyroSensor->softLpfFilterPtr[axis], gyroADCf);
             gyro.gyroADCf[axis] = gyroADCf;
-            accumulator[axis] += gyroADCf * sampleDeltaUs;
+            accumulatedMeasurements[axis] += gyroADCf * sampleDeltaUs;
         }
     } else {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
@@ -696,7 +696,7 @@ static void gyroUpdateSensor(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
             gyroADCf = gyroSensor->softLpfFilterApplyFn(gyroSensor->softLpfFilterPtr[axis], gyroADCf);
 
             gyro.gyroADCf[axis] = gyroADCf;
-            accumulator[axis] += gyroADCf * sampleDeltaUs;
+            accumulatedMeasurements[axis] += gyroADCf * sampleDeltaUs;
         }
     }
 }
@@ -706,20 +706,19 @@ void gyroUpdate(timeUs_t currentTimeUs)
     gyroUpdateSensor(&gyroSensor1, currentTimeUs);
 }
 
-bool gyroGetAccumulationAverage(float *accumulation)
+bool gyroGetAccumulationAverage(float *accumulationAverage)
 {
-    if (accumulatedTimeUs > 0) {
-        const float accumulatedTimeS = accumulatedTimeUs * 1e-6;
+    if (accumulatedMeasurementTimeUs > 0) {
         // If we have gyro data accumulated, calculate average rate that will yield the same rotation
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            accumulation[axis] = accumulator[axis] / accumulatedTimeS;
-            accumulator[axis] = 0.0f;
+            accumulationAverage[axis] = accumulatedMeasurements[axis] / accumulatedMeasurementTimeUs;
+            accumulatedMeasurements[axis] = 0.0f;
         }
-        accumulatedTimeUs = 0;
+        accumulatedMeasurementTimeUs = 0;
         return true;
     } else {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-            accumulation[axis] = 0.0f;
+            accumulationAverage[axis] = 0.0f;
         }
         return false;
     }