diff --git a/flight/modules/StateEstimation/filtercf.c b/flight/modules/StateEstimation/filtercf.c
index 39579e78c..ae896905a 100644
--- a/flight/modules/StateEstimation/filtercf.c
+++ b/flight/modules/StateEstimation/filtercf.c
@@ -277,7 +277,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
         // wait 4 seconds for the user to get his hands off in case the board was just powered
         this->timeval = PIOS_DELAY_GetRaw();
         return 1;
-    } else if (this->init == 0 && PIOS_DELAY_DiffuS(this->starttime) < 10000000 && PIOS_DELAY_DiffuS(this->starttime) >= 4000000) {
+    } else if (this->init == 0 && PIOS_DELAY_DiffuS(this->starttime) < 10000000) {
         // For first 7 seconds use accels to get gyro bias
         this->attitudeSettings.AccelKp     = 1.0f;
         this->attitudeSettings.AccelKi     = 0.0f;