diff --git a/flix/estimate.ino b/flix/estimate.ino
index b0fae96..db34a3f 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -31,6 +31,7 @@ void applyAcc() {
 	float accNorm = acc.norm();
 	bool landed = !motorsActive() && abs(accNorm - ONE_G) < ONE_G * 0.1f;
 
+	setLED(landed);
 	if (!landed) return;
 
 	// calculate accelerometer correction
diff --git a/flix/flix.ino b/flix/flix.ino
index c5de571..6a950f7 100644
--- a/flix/flix.ino
+++ b/flix/flix.ino
@@ -35,6 +35,7 @@ Vector gyro; // gyroscope data
 Vector acc; // accelerometer data, m/s/s
 Vector rates; // filtered angular rates, rad/s
 Quaternion attitude; // estimated attitude
+bool landed; // are we landed and stationary
 float motors[4]; // normalized motors thrust in range [-1..1]
 
 void setup() {
diff --git a/flix/imu.ino b/flix/imu.ino
index 46c526a..caa8b79 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -22,7 +22,7 @@ void setupIMU() {
 		}
 	}
 	configureIMU();
-	calibrateGyro();
+	// calibrateGyro();
 }
 
 void configureIMU() {
@@ -36,6 +36,7 @@ void readIMU() {
 	IMU.waitForData();
 	IMU.getGyro(gyro.x, gyro.y, gyro.z);
 	IMU.getAccel(acc.x, acc.y, acc.z);
+	calibrateGyroOnce();
 	// apply scale and bias
 	acc = (acc - accBias) / accScale;
 	gyro = gyro - gyroBias;
@@ -51,6 +52,13 @@ void rotateIMU(Vector& data) {
 	// Axes orientation for various boards: https://github.com/okalachev/flixperiph#imu-axes-orientation
 }
 
+void calibrateGyroOnce() {
+	if (!landed) return;
+	static float samples = 0; // overflows after 49 days at 1000 Hz
+	samples++;
+	gyroBias = gyroBias + (gyro - gyroBias) / samples; // running average
+}
+
 void calibrateGyro() {
 	const int samples = 1000;
 	Serial.println("Calibrating gyro, stand still");
diff --git a/flix/parameters.ino b/flix/parameters.ino
index 6b9e688..e66b365 100644
--- a/flix/parameters.ino
+++ b/flix/parameters.ino
@@ -41,9 +41,9 @@ Parameter parameters[] = {
 	{"ACC_SCALE_X", &accScale.x},
 	{"ACC_SCALE_Y", &accScale.y},
 	{"ACC_SCALE_Z", &accScale.z},
-	{"GYRO_BIAS_X", &gyroBias.x},
-	{"GYRO_BIAS_Y", &gyroBias.y},
-	{"GYRO_BIAS_Z", &gyroBias.z},
+	// {"GYRO_BIAS_X", &gyroBias.x},
+	// {"GYRO_BIAS_Y", &gyroBias.y},
+	// {"GYRO_BIAS_Z", &gyroBias.z},
 	// rc
 	{"RC_NEUTRAL_0", &channelNeutral[0]},
 	{"RC_NEUTRAL_1", &channelNeutral[1]},