diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index f4b27b18cc..cda9d20504 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -539,10 +539,6 @@ void imuUpdateAccelerometer(void)
         isAccelUpdatedAtLeastOnce = true;
     }
 #endif
-
-#ifdef ASYNC_GYRO_PROCESSING
-    accUpdateAccumulatedMeasurements();
-#endif
 }
 
 void imuUpdateAttitude(timeUs_t currentTimeUs)
diff --git a/src/main/sensors/acceleration.c b/src/main/sensors/acceleration.c
index 5fae52e51b..4a1aba0a8d 100644
--- a/src/main/sensors/acceleration.c
+++ b/src/main/sensors/acceleration.c
@@ -458,7 +458,7 @@ static void applyAccelerationZero(const flightDynamicsTrims_t * accZero, const f
 STATIC_FASTRAM float accumulatedMeasurements[XYZ_AXIS_COUNT];
 STATIC_FASTRAM int   accumulatedMeasurementCount;
 
-void accUpdateAccumulatedMeasurements(void)
+static void accUpdateAccumulatedMeasurements(void)
 {
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         accumulatedMeasurements[axis] += acc.accADCf[axis];
@@ -473,11 +473,18 @@ void accUpdateAccumulatedMeasurements(void)
 void accGetMeasuredAcceleration(t_fp_vector *measuredAcc)
 {
 #ifdef ASYNC_GYRO_PROCESSING
-    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        measuredAcc->A[axis] = accumulatedMeasurements[axis] * GRAVITY_CMSS / accumulatedMeasurementCount;
-        accumulatedMeasurements[axis] = 0;
+    if (accumulatedMeasurementCount) {
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            measuredAcc->A[axis] = accumulatedMeasurements[axis] * GRAVITY_CMSS / accumulatedMeasurementCount;
+            accumulatedMeasurements[axis] = 0;
+        }
+        accumulatedMeasurementCount = 0;
+    }
+    else {
+        for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+            measuredAcc->A[axis] = acc.accADCf[axis] * GRAVITY_CMSS;
+        }
     }
-    accumulatedMeasurementCount = 0;;
 #else
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         measuredAcc->A[axis] = acc.accADCf[axis] * GRAVITY_CMSS;
@@ -494,14 +501,17 @@ void accUpdate(void)
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
         accADC[axis] = acc.dev.ADCRaw[axis];
     }
+
     if (!accIsCalibrationComplete()) {
         performAcclerationCalibration();
         return;
     }
+
     applyAccelerationZero(&accelerometerConfig()->accZero, &accelerometerConfig()->accGain);
     alignSensors(accADC, acc.dev.accAlign);
+
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        acc.accADCf[axis] = accADC[axis] / acc.dev.acc_1G;
+        acc.accADCf[axis] = (float)accADC[axis] / acc.dev.acc_1G;
     }
 
     if (accelerometerConfig()->acc_lpf_hz) {
@@ -517,6 +527,10 @@ void accUpdate(void)
         }
     }
 #endif
+
+#ifdef ASYNC_GYRO_PROCESSING
+    accUpdateAccumulatedMeasurements();
+#endif
 }
 
 void accSetCalibrationValues(void)
diff --git a/src/main/sensors/acceleration.h b/src/main/sensors/acceleration.h
index 2b1f9be4c2..96f7a59ee7 100644
--- a/src/main/sensors/acceleration.h
+++ b/src/main/sensors/acceleration.h
@@ -65,7 +65,6 @@ PG_DECLARE(accelerometerConfig_t, accelerometerConfig);
 bool accInit(uint32_t accTargetLooptime);
 bool accIsCalibrationComplete(void);
 void accSetCalibrationCycles(uint16_t calibrationCyclesRequired);
-void accUpdateAccumulatedMeasurements(void);
 void accGetMeasuredAcceleration(t_fp_vector *measuredAcc);
 void accUpdate(void);
 void accSetCalibrationValues(void);