diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c
index 9a77edd6e..44f542440 100644
--- a/src/main/fc/mw.c
+++ b/src/main/fc/mw.c
@@ -688,7 +688,8 @@ void processRx(uint32_t currentTime)
 
 void subTaskPidController(void)
 {
-    const uint32_t startTime = micros();
+    uint32_t startTime;
+    if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
     // PID - note this is function pointer set by setPIDController()
     pidController(
         &currentProfile->pidProfile,
diff --git a/src/main/sensors/boardalignment.c b/src/main/sensors/boardalignment.c
index 42ede9155..b18c558f2 100644
--- a/src/main/sensors/boardalignment.c
+++ b/src/main/sensors/boardalignment.c
@@ -64,51 +64,55 @@ static void alignBoard(int32_t *vec)
 
 void alignSensors(const int32_t *src, int32_t *dest, uint8_t rotation)
 {
-    static uint32_t swap[3];
-    memcpy(swap, src, sizeof(swap));
+    int32_t x;
 
+    // note src and dest may point to the same address
     switch (rotation) {
-        default:
-        case CW0_DEG:
-            dest[X] = swap[X];
-            dest[Y] = swap[Y];
-            dest[Z] = swap[Z];
-            break;
-        case CW90_DEG:
-            dest[X] = swap[Y];
-            dest[Y] = -swap[X];
-            dest[Z] = swap[Z];
-            break;
-        case CW180_DEG:
-            dest[X] = -swap[X];
-            dest[Y] = -swap[Y];
-            dest[Z] = swap[Z];
-            break;
-        case CW270_DEG:
-            dest[X] = -swap[Y];
-            dest[Y] = swap[X];
-            dest[Z] = swap[Z];
-            break;
-        case CW0_DEG_FLIP:
-            dest[X] = -swap[X];
-            dest[Y] = swap[Y];
-            dest[Z] = -swap[Z];
-            break;
-        case CW90_DEG_FLIP:
-            dest[X] = swap[Y];
-            dest[Y] = swap[X];
-            dest[Z] = -swap[Z];
-            break;
-        case CW180_DEG_FLIP:
-            dest[X] = swap[X];
-            dest[Y] = -swap[Y];
-            dest[Z] = -swap[Z];
-            break;
-        case CW270_DEG_FLIP:
-            dest[X] = -swap[Y];
-            dest[Y] = -swap[X];
-            dest[Z] = -swap[Z];
-            break;
+    default:
+    case CW0_DEG:
+        dest[X] = src[X];
+        dest[Y] = src[Y];
+        dest[Z] = src[Z];
+        break;
+    case CW90_DEG:
+        x = src[X];
+        dest[X] = src[Y];
+        dest[Y] = -x;
+        dest[Z] = src[Z];
+        break;
+    case CW180_DEG:
+        dest[X] = -src[X];
+        dest[Y] = -src[Y];
+        dest[Z] = src[Z];
+        break;
+    case CW270_DEG:
+        x = src[X];
+        dest[X] = -src[Y];
+        dest[Y] = x;
+        dest[Z] = src[Z];
+        break;
+    case CW0_DEG_FLIP:
+        dest[X] = -src[X];
+        dest[Y] = src[Y];
+        dest[Z] = -src[Z];
+        break;
+    case CW90_DEG_FLIP:
+        x = src[X];
+        dest[X] = src[Y];
+        dest[Y] = x;
+        dest[Z] = -src[Z];
+        break;
+    case CW180_DEG_FLIP:
+        dest[X] = src[X];
+        dest[Y] = -src[Y];
+        dest[Z] = -src[Z];
+        break;
+    case CW270_DEG_FLIP:
+        x = src[X];
+        dest[X] = -src[Y];
+        dest[Y] = -x;
+        dest[Z] = -src[Z];
+        break;
     }
 
     if (!standardBoardAlignment)
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index c139da427..5ed678e10 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -157,13 +157,6 @@ static void performGyroCalibration(uint8_t gyroMovementCalibrationThreshold)
 
 }
 
-static void applyGyroZero(void)
-{
-    for (int axis = 0; axis < 3; axis++) {
-        gyroADC[axis] -= gyroZero[axis];
-    }
-}
-
 void gyroUpdate(void)
 {
     int16_t gyroADCRaw[XYZ_AXIS_COUNT];
@@ -173,9 +166,9 @@ void gyroUpdate(void)
         return;
     }
 
-    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
-        gyroADC[axis] = gyroADCRaw[axis];
-    }
+    gyroADC[X] = gyroADCRaw[X];
+    gyroADC[Y] = gyroADCRaw[Y];
+    gyroADC[Z] = gyroADCRaw[Z];
 
     alignSensors(gyroADC, gyroADC, gyroAlign);
 
@@ -183,7 +176,9 @@ void gyroUpdate(void)
         performGyroCalibration(gyroConfig->gyroMovementCalibrationThreshold);
     }
 
-    applyGyroZero();
+    gyroADC[X] -= gyroZero[X];
+    gyroADC[Y] -= gyroZero[Y];
+    gyroADC[Z] -= gyroZero[Z];
 
     if (gyroSoftLpfHz) {
         for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {