From f3f7827c335b76bba2d6176c6f6d6cac8f6a430f Mon Sep 17 00:00:00 2001
From: borisbstyle <dreambb1982@gmail.com>
Date: Mon, 16 May 2016 21:26:06 +0200
Subject: [PATCH] Apply gyro zero before filtering // Fix Luxfloat Drift

---
 src/main/sensors/gyro.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

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();
 }