diff --git a/boards/arm/stm32/stm32f429i-disco/src/stm32_bringup.c b/boards/arm/stm32/stm32f429i-disco/src/stm32_bringup.c
index 05944fbb279..919c224f77e 100644
--- a/boards/arm/stm32/stm32f429i-disco/src/stm32_bringup.c
+++ b/boards/arm/stm32/stm32f429i-disco/src/stm32_bringup.c
@@ -372,7 +372,7 @@ int stm32_bringup(void)
 #endif
 
 #ifdef CONFIG_SENSORS_L3GD20
-  ret = board_l3gd20_initialize(CONFIG_SENSORS_L3GD20_DEVNO, 5);
+  ret = board_l3gd20_initialize(0, 5);
   if (ret != OK)
     {
       syslog(LOG_ERR, "ERROR: Failed to initialize l3gd20 sensor:"
diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index 8ce0a6a0a14..6e98e5668c8 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -226,13 +226,6 @@ config SENSORS_L3GD20
 	---help---
 		Enable driver support for the STMicro L3GD20 gyroscope sensor.
 
-config SENSORS_L3GD20_DEVNO
-	int "The device number"
-	default 0
-	depends on SENSORS_L3GD20
-	---help---
-		The device number, used to build the device path as /dev/sensor/gyro_uncalN
-
 config SENSORS_L3GD20_BUFFER_SIZE
 	int "size of buffer"
 	default 1
diff --git a/drivers/sensors/l3gd20.c b/drivers/sensors/l3gd20.c
index 187f81b3cf5..de0a7acd858 100644
--- a/drivers/sensors/l3gd20.c
+++ b/drivers/sensors/l3gd20.c
@@ -47,7 +47,7 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-#if !defined(CONFIG_SCHED_HPWORK)
+#if CONFIG_SENSORS_L3GD20_BUFFER_SIZE > 0 && !defined(CONFIG_SCHED_HPWORK)
 #  error Hi-priority work queue support is required (CONFIG_SCHED_HPWORK)
 #endif
 
@@ -235,9 +235,9 @@ static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev,
 
   l3gd20_read_temperature(dev, &temperature);
 
-  data->x = ((int16_t)x_gyr / 180.0f) * M_PI_F;
-  data->y = ((int16_t)y_gyr / 180.0f) * M_PI_F;
-  data->z = ((int16_t)z_gyr / 180.0f) * M_PI_F;
+  data->x = ((int16_t)x_gyr / 180.0f) * (float)M_PI;
+  data->y = ((int16_t)y_gyr / 180.0f) * (float)M_PI;
+  data->z = ((int16_t)z_gyr / 180.0f) * (float)M_PI;
   data->temperature = temperature;
   data->timestamp   = dev->timestamp;