diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 38b56b22ae0..725f3e00f80 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -364,6 +364,15 @@ bool gyroInit(void)
     return true;
 }
 
+/* Zero calibration works on raw gyro readings, so the movement threshold has to be
+ * expressed in that sensor's LSB. Each gyro is asked for its own scale: a dual-IMU
+ * board may pair two unrelated parts, and the primary's sensitivity would be the
+ * wrong reference for the secondary. */
+static float gyroMovementThreshold(uint8_t index)
+{
+    return CALIBRATING_GYRO_MORON_THRESHOLD_DPS / gyroDev[index].scale;
+}
+
 void gyroStartCalibration(void)
 {
     if (!gyro.initialized) {
@@ -377,7 +386,7 @@ void gyroStartCalibration(void)
 #endif
 
     gyroCalibrationComplete = false;
-    zeroCalibrationStartV(&gyroCalibration[0], CALIBRATING_GYRO_TIME_MS, CALIBRATING_GYRO_MORON_THRESHOLD, false);
+    zeroCalibrationStartV(&gyroCalibration[0], CALIBRATING_GYRO_TIME_MS, gyroMovementThreshold(0), false);
 }
 
 bool gyroIsCalibrationComplete(void)
diff --git a/src/main/sensors/sensors.h b/src/main/sensors/sensors.h
index ac588581a7e..bcbbd426c52 100644
--- a/src/main/sensors/sensors.h
+++ b/src/main/sensors/sensors.h
@@ -43,7 +43,10 @@ typedef union flightDynamicsTrims_u {
 #define CALIBRATING_PITOT_TIME_MS           4000
 #define CALIBRATING_GYRO_TIME_MS            2000
 #define CALIBRATING_ACC_TIME_MS             500
-#define CALIBRATING_GYRO_MORON_THRESHOLD    32
+// Gyro zero calibration movement threshold, in dps. Expressed as a physical rotation rate so
+// that it does not depend on the gyro sensitivity. Equals the legacy threshold of 32 LSB at
+// the default scale of 16.4 LSB/dps
+#define CALIBRATING_GYRO_MORON_THRESHOLD_DPS (32.0f / 16.4f)
 
 // These bits have to be aligned with sensorIndex_e
 typedef enum {