From ea30a11d1a9cf971ab5f4510dd6ee2e0ed425dfb Mon Sep 17 00:00:00 2001
From: Kevin Plaizier <46289813+Quick-Flash@users.noreply.github.com>
Date: Tue, 8 Oct 2024 13:44:39 -0600
Subject: [PATCH] Make the imuGyroFilter actually filter (#13961)

---
 src/main/sensors/gyro_init.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/sensors/gyro_init.c b/src/main/sensors/gyro_init.c
index 4236a866e8..eed83d39b9 100644
--- a/src/main/sensors/gyro_init.c
+++ b/src/main/sensors/gyro_init.c
@@ -278,7 +278,7 @@ void gyroInitFilters(void)
     dynNotchInit(dynNotchConfig(), gyro.targetLooptime);
 #endif
 
-    const float k = pt1FilterGain(GYRO_IMU_DOWNSAMPLE_CUTOFF_HZ, gyro.targetLooptime);
+    const float k = pt1FilterGain(GYRO_IMU_DOWNSAMPLE_CUTOFF_HZ, gyro.targetLooptime * 1e-6f);
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         pt1FilterInit(&gyro.imuGyroFilter[axis], k);
     }