diff --git a/src/sensors_gyro.c b/src/sensors_gyro.c
index f2c79b322..720b6758e 100644
--- a/src/sensors_gyro.c
+++ b/src/sensors_gyro.c
@@ -24,44 +24,63 @@ void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
     calibratingG = calibrationCyclesRequired;
 }
 
-static void gyroCommon(uint8_t gyroMovementCalibrationThreshold)
+bool isGyroCalibrationComplete(void)
 {
-    int axis;
+    return calibratingG == 0;
+}
+
+bool isOnFinalGyroCalibrationCycle(void)
+{
+    return calibratingG == 1;
+}
+
+bool isOnFirstGyroCalibrationCycle(void)
+{
+    return calibratingG == CALIBRATING_GYRO_CYCLES;
+}
+
+static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
+{
+    int8_t axis;
     static int32_t g[3];
     static stdev_t var[3];
 
-    if (calibratingG > 0) {
-        for (axis = 0; axis < 3; axis++) {
-            // Reset g[axis] at start of calibration
-            if (calibratingG == CALIBRATING_GYRO_CYCLES) {
-                g[axis] = 0;
-                devClear(&var[axis]);
-            }
-            // Sum up 1000 readings
-            g[axis] += gyroADC[axis];
-            devPush(&var[axis], gyroADC[axis]);
-            // Clear global variables for next reading
-            gyroADC[axis] = 0;
-            gyroZero[axis] = 0;
-            if (calibratingG == 1) {
-                float dev = devStandardDeviation(&var[axis]);
-                // check deviation and startover if idiot was moving the model
-                if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
-                    calibratingG = CALIBRATING_GYRO_CYCLES;
-                    devClear(&var[0]);
-                    devClear(&var[1]);
-                    devClear(&var[2]);
-                    g[0] = g[1] = g[2] = 0;
-                    continue;
-                }
-                gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
-                blinkLedAndSoundBeeper(10, 15, 1);
-            }
+    for (axis = 0; axis < 3; axis++) {
+
+        // Reset g[axis] at start of calibration
+        if (isOnFirstGyroCalibrationCycle()) {
+            g[axis] = 0;
+            devClear(&var[axis]);
+        }
+
+        // Sum up CALIBRATING_GYRO_CYCLES readings
+        g[axis] += gyroADC[axis];
+        devPush(&var[axis], gyroADC[axis]);
+
+        // Reset global variables to prevent other code from using un-calibrated data
+        gyroADC[axis] = 0;
+        gyroZero[axis] = 0;
+
+        if (isOnFinalGyroCalibrationCycle()) {
+            float dev = devStandardDeviation(&var[axis]);
+            // check deviation and startover if idiot was moving the model
+            if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
+                gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
+                return;
+            }
+            gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
+            blinkLedAndSoundBeeper(10, 15, 1);
         }
-        calibratingG--;
     }
-    for (axis = 0; axis < 3; axis++)
+    calibratingG--;
+}
+
+static void applyGyroZero(void)
+{
+    int8_t axis;
+    for (axis = 0; axis < 3; axis++) {
         gyroADC[axis] -= gyroZero[axis];
+    }
 }
 
 void gyroGetADC(uint8_t gyroMovementCalibrationThreshold)
@@ -69,5 +88,10 @@ void gyroGetADC(uint8_t gyroMovementCalibrationThreshold)
     // range: +/- 8192; +/- 2000 deg/sec
     gyro.read(gyroADC);
     alignSensors(gyroADC, gyroADC, gyroAlign);
-    gyroCommon(gyroMovementCalibrationThreshold);
+
+    if (!isGyroCalibrationComplete()) {
+        performAcclerationCalibration(gyroMovementCalibrationThreshold);
+    }
+
+    applyGyroZero();
 }