diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c index 17981d5883..b22955cead 100644 --- a/src/main/sensors/gyro.c +++ b/src/main/sensors/gyro.c @@ -152,6 +152,12 @@ void gyroUpdate(void) alignSensors(gyroADC, gyroADC, gyroAlign); + if (!isGyroCalibrationComplete()) { + performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold); + } + + applyGyroZero(); + if (gyroLpfCutFreq) { if (!gyroFilterStateIsSet) initGyroFilterCoefficients(); /* initialise filter coefficients */ @@ -162,10 +168,4 @@ void gyroUpdate(void) } } } - - if (!isGyroCalibrationComplete()) { - performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold); - } - - applyGyroZero(); }