diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index 682fb05eb3..9ec2e64dd7 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -183,23 +183,6 @@ bool mpuGyroRead(gyroDev_t *gyro)
     return true;
 }
 
-gyroOverflow_e mpuGyroCheckOverflow(const gyroDev_t *gyro)
-{
-    // we cannot detect overflow directly, so assume overflow if absolute gyro rate is large
-    gyroOverflow_e ret = GYRO_OVERFLOW_NONE;
-    const int16_t overflowValue = 0x7C00; // this is a slightly conservative value, could probably be as high as 0x7FF0
-    if (gyro->gyroADCRaw[X] > overflowValue || gyro->gyroADCRaw[X] < -overflowValue) {
-        ret |= GYRO_OVERFLOW_X;
-    }
-    if (gyro->gyroADCRaw[Y] > overflowValue || gyro->gyroADCRaw[Y] < -overflowValue) {
-        ret |= GYRO_OVERFLOW_Y;
-    }
-    if (gyro->gyroADCRaw[Z] > overflowValue || gyro->gyroADCRaw[Z] < -overflowValue) {
-        ret |= GYRO_OVERFLOW_Z;
-    }
-    return ret;
-}
-
 bool mpuGyroReadSPI(gyroDev_t *gyro)
 {
     static const uint8_t dataToSend[7] = {MPU_RA_GYRO_XOUT_H | 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index f7c115511e..6e42fe2a44 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -211,7 +211,6 @@ typedef struct mpuDetectionResult_s {
 
 struct gyroDev_s;
 void mpuGyroInit(struct gyroDev_s *gyro);
-gyroOverflow_e mpuGyroCheckOverflow(const struct gyroDev_s *gyro);
 bool mpuGyroRead(struct gyroDev_s *gyro);
 bool mpuGyroReadSPI(struct gyroDev_s *gyro);
 void mpuDetect(struct gyroDev_s *gyro);
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 75799b93fd..22f4e91722 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -153,6 +153,9 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor);
 #define GYRO_SYNC_DENOM_DEFAULT 4
 #endif
 
+#define GYRO_OVERFLOW_TRIGGER_THRESHOLD 31980  // 97.5% full scale (1950dps for 2000dps gyro)
+#define GYRO_OVERFLOW_RESET_THRESHOLD 30340    // 92.5% full scale (1850dps for 2000dps gyro)
+
 PG_REGISTER_WITH_RESET_TEMPLATE(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 1);
 
 PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
@@ -728,13 +731,10 @@ static void checkForOverflow(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
     // This can cause an overflow and sign reversal in the output.
     // Overflow and sign reversal seems to result in a gyro value of +1996 or -1996.
     if (gyroSensor->overflowDetected) {
-        const float gyroRateX = gyroSensor->gyroDev.gyroADC[X] * gyroSensor->gyroDev.scale;
-        const float gyroRateY = gyroSensor->gyroDev.gyroADC[Y] * gyroSensor->gyroDev.scale;
-        const float gyroRateZ = gyroSensor->gyroDev.gyroADC[Z] * gyroSensor->gyroDev.scale;
-        static const int overflowResetThreshold = 1800;
-        if (abs(gyroRateX) < overflowResetThreshold
-              && abs(gyroRateY) < overflowResetThreshold
-              && abs(gyroRateZ) < overflowResetThreshold) {
+        const float gyroOverflowResetRate = GYRO_OVERFLOW_RESET_THRESHOLD * gyroSensor->gyroDev.scale;
+        if ((abs(gyro.gyroADCf[X]) < gyroOverflowResetRate)
+              && (abs(gyro.gyroADCf[Y]) < gyroOverflowResetRate)
+              && (abs(gyro.gyroADCf[Z]) < gyroOverflowResetRate)) {
             // if we have 50ms of consecutive OK gyro vales, then assume yaw readings are OK again and reset overflowDetected
             // reset requires good OK values on all axes
             if (cmpTimeUs(currentTimeUs, gyroSensor->overflowTimeUs) > 50000) {
@@ -744,14 +744,26 @@ static void checkForOverflow(gyroSensor_t *gyroSensor, timeUs_t currentTimeUs)
             // not a consecutive OK value, so reset the overflow time
             gyroSensor->overflowTimeUs = currentTimeUs;
         }
-    }
+    } else {
 #ifndef SIMULATOR_BUILD
-    // check for overflow in the axes set in overflowAxisMask
-    if (mpuGyroCheckOverflow(&gyroSensor->gyroDev) & overflowAxisMask) {
-        gyroSensor->overflowDetected = true;
-        gyroSensor->overflowTimeUs = currentTimeUs;
-    }
+        // check for overflow in the axes set in overflowAxisMask
+        gyroOverflow_e overflowCheck = GYRO_OVERFLOW_NONE;
+        const float gyroOverflowTriggerRate = GYRO_OVERFLOW_TRIGGER_THRESHOLD * gyroSensor->gyroDev.scale;
+        if (abs(gyro.gyroADCf[X]) > gyroOverflowTriggerRate) {
+            overflowCheck |= GYRO_OVERFLOW_X;
+        }
+        if (abs(gyro.gyroADCf[Y]) > gyroOverflowTriggerRate) {
+            overflowCheck |= GYRO_OVERFLOW_Y;
+        }
+        if (abs(gyro.gyroADCf[Z]) > gyroOverflowTriggerRate) {
+            overflowCheck |= GYRO_OVERFLOW_Z;
+        }
+        if (overflowCheck & overflowAxisMask) {
+            gyroSensor->overflowDetected = true;
+            gyroSensor->overflowTimeUs = currentTimeUs;
+        }
 #endif // SIMULATOR_BUILD
+    }
 #else
     UNUSED(gyroSensor);
     UNUSED(currentTimeUs);