diff --git a/sw/airborne/imu_v3.c b/sw/airborne/imu_v3.c
index f15e3ed631..c22832f111 100644
--- a/sw/airborne/imu_v3.c
+++ b/sw/airborne/imu_v3.c
@@ -22,7 +22,7 @@ struct adc_buf buf_az;
 struct adc_buf buf_bat;
 
 
-#define IMU_DETECT_STILL_LEN 256
+#define IMU_DETECT_STILL_LEN 128
 bool_t imu_vehicle_still;
 
 uint16_t imu_vs_accel_raw[AXIS_NB][IMU_DETECT_STILL_LEN];
diff --git a/sw/airborne/imu_v3.h b/sw/airborne/imu_v3.h
index 3793ce0dfb..89e9d42a9d 100644
--- a/sw/airborne/imu_v3.h
+++ b/sw/airborne/imu_v3.h
@@ -58,9 +58,9 @@ extern struct adc_buf buf_bat;
 #endif
 
 
-#define IMU_GYRO_X_NEUTRAL 40867
-#define IMU_GYRO_Y_NEUTRAL 40852
-#define IMU_GYRO_Z_NEUTRAL 38915
+#define IMU_GYRO_X_NEUTRAL 40885
+#define IMU_GYRO_Y_NEUTRAL 40910
+#define IMU_GYRO_Z_NEUTRAL 39552
 
 #define IMU_GYRO_X_GAIN -0.000220177991888642784
 #define IMU_GYRO_Y_GAIN -0.000214915108532129801