diff --git a/src/drivers/bmi160/bmi160.cpp b/src/drivers/bmi160/bmi160.cpp
index 9f6289039c..679ef61b28 100644
--- a/src/drivers/bmi160/bmi160.cpp
+++ b/src/drivers/bmi160/bmi160.cpp
@@ -551,14 +551,6 @@ BMI160::gyro_self_test()
 		return 1;
 	}
 
-	/* check if all scales are zero */
-	if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
-	    (fabsf(_gyro_scale.y_offset) < 0.000001f) &&
-	    (fabsf(_gyro_scale.z_offset) < 0.000001f)) {
-		/* if all are zero, this device is not calibrated */
-		return 1;
-	}
-
 	return 0;
 }
 
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 2bb79f79f4..3813c3a550 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -1105,14 +1105,6 @@ MPU6000::gyro_self_test()
 		return 1;
 	}
 
-	/* check if all scales are zero */
-	if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
-	    (fabsf(_gyro_scale.y_offset) < 0.000001f) &&
-	    (fabsf(_gyro_scale.z_offset) < 0.000001f)) {
-		/* if all are zero, this device is not calibrated */
-		return 1;
-	}
-
 	return 0;
 }
 
diff --git a/src/drivers/mpu6500/mpu6500.cpp b/src/drivers/mpu6500/mpu6500.cpp
index 03dc6e2a95..73bcab2cb2 100644
--- a/src/drivers/mpu6500/mpu6500.cpp
+++ b/src/drivers/mpu6500/mpu6500.cpp
@@ -954,14 +954,6 @@ MPU6500::gyro_self_test()
 		return 1;
 	}
 
-	/* check if all scales are zero */
-	if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
-	    (fabsf(_gyro_scale.y_offset) < 0.000001f) &&
-	    (fabsf(_gyro_scale.z_offset) < 0.000001f)) {
-		/* if all are zero, this device is not calibrated */
-		return 1;
-	}
-
 	return 0;
 }
 
diff --git a/src/drivers/mpu9250/mpu9250.cpp b/src/drivers/mpu9250/mpu9250.cpp
index 7b569639b1..aee16fe32e 100644
--- a/src/drivers/mpu9250/mpu9250.cpp
+++ b/src/drivers/mpu9250/mpu9250.cpp
@@ -641,14 +641,6 @@ MPU9250::gyro_self_test()
 		return 1;
 	}
 
-	/* check if all scales are zero */
-	if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
-	    (fabsf(_gyro_scale.y_offset) < 0.000001f) &&
-	    (fabsf(_gyro_scale.z_offset) < 0.000001f)) {
-		/* if all are zero, this device is not calibrated */
-		return 1;
-	}
-
 	return 0;
 }
 
diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
index 8570a200d0..95af8936a2 100644
--- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
@@ -669,14 +669,6 @@ GYROSIM::gyro_self_test()
 		return 1;
 	}
 
-	/* check if all scales are zero */
-	if ((fabsf(_gyro_scale.x_offset) < 0.000001f) &&
-	    (fabsf(_gyro_scale.y_offset) < 0.000001f) &&
-	    (fabsf(_gyro_scale.z_offset) < 0.000001f)) {
-		/* if all are zero, this device is not calibrated */
-		return 1;
-	}
-
 	return 0;
 }