diff --git a/Source/BSP/Inc/imu_processing.h b/Source/BSP/Inc/imu_processing.h
index c920a98..c4129b8 100644
--- a/Source/BSP/Inc/imu_processing.h
+++ b/Source/BSP/Inc/imu_processing.h
@@ -5,7 +5,7 @@
 
 
 #define ACCEL_SENS_SCALE_FACTOR		4096.0f
-#define GYRO_SENS_SCALE_FACTOR		16.4f
+#define GYRO_SENS_SCALE_FACTOR		16.384f
 #define PI							          3.14159265359f
 #define DEG2RAD						        PI / 180.0f
 
diff --git a/Source/main.c b/Source/main.c
index 84b9838..b58fdfc 100644
--- a/Source/main.c
+++ b/Source/main.c
@@ -25,26 +25,11 @@ control_channels_t ctrl_chs;
 
 Vector3 euler;
 
-volatile uint32_t us_ticks = 0;
-
-void SysTick_Handler()
-{
-	us_ticks++;
-}
-
-float micros()
-{
-	return (float)us_ticks;
-}
-
-static float last_time = 0;
-
 void imu_callback(uint8_t* buf);
 void delay_ms(uint32_t ms);
 
 int main(void)
 {
-  last_time = micros();
   
 	__enable_irq();
 	
@@ -75,25 +60,6 @@ int main(void)
 	  receiver_update(&rx_chs_raw);
 	  rx_chs_normalized = normalize_channels(rx_chs_raw);
 		
-		/*if (irs_update_flag)
-		{
-		  irs_update_flag = 0;
-			
-			imu_read_scaled(&imu, &allowed_calib);
-			
-			irs.gyro.x = imu.gx;
-			irs.gyro.y = imu.gy;
-			irs.gyro.z = imu.gz;
-			
-			irs.accel.x = imu.ax;
-			irs.accel.y = imu.ay;
-			irs.accel.z = imu.az;
-		
-		  IRS_update(&irs, IMU_DT);
-		}*/
-		
-		
-		
 		if (control_update_flag)
 		{
       control_update_flag = 0;
@@ -136,11 +102,6 @@ void imu_callback(uint8_t* buf)
 
 	imu_process_raw(&imu, &imu_raw, &allowed_calib);
 
-	float now = micros();
-	float dt = (now - last_time) * 1e-6f;
-  if (dt <= 0.0f || dt > 0.1f) dt = IMU_DT;
-	last_time = now;
-
 	irs.gyro.x = imu.gx;
 	irs.gyro.y = imu.gy;
 	irs.gyro.z = imu.gz;
@@ -154,11 +115,14 @@ void imu_callback(uint8_t* buf)
   euler = QuatToEuler(&irs.q);
 }
 
+static uint8_t div = 0;
+
 void TIM6_DAC_IRQHandler()
 {
 	if (TIM6->SR & TIM_SR_UIF)
 	{
 		TIM6->SR &= ~TIM_SR_UIF;
+    
     i2c_read_async(ICM_ADDR, 0x2D, 12, imu_callback);
 		control_update_flag = 1;
 	}