diff --git a/flight/Modules/Attitude/revolution/attitude.c b/flight/Modules/Attitude/revolution/attitude.c
index 3bebe73c0..ba94b1b84 100644
--- a/flight/Modules/Attitude/revolution/attitude.c
+++ b/flight/Modules/Attitude/revolution/attitude.c
@@ -659,9 +659,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 			dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
 
 			GyrosBiasGet(&gyrosBias);
-			float gyros[3] = {(gyrosData.x + gyrosBias.x) * F_PI / 180.0f, 
-				(gyrosData.y + gyrosBias.y) * F_PI / 180.0f, 
-				(gyrosData.z + gyrosBias.z) * F_PI / 180.0f};
+			float gyros[3] = {(gyrosData.x - gyrosBias.x) * F_PI / 180.0f, 
+				(gyrosData.y - gyrosBias.y) * F_PI / 180.0f, 
+				(gyrosData.z - gyrosBias.z) * F_PI / 180.0f};
 			INSStatePrediction(gyros, &accelsData.x, dT);
 			
 			AttitudeActualData attitude;
@@ -797,7 +797,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 	velocityActual.Down = Nav.Vel[2];
 	VelocityActualSet(&velocityActual);
 	
-	if(fabs(Nav.gyro_bias[0]) > 0.1f || fabs(Nav.gyro_bias[1]) > 0.1f || fabs(Nav.gyro_bias[2]) > 0.1f) {
+	if(fabs(Nav.gyro_bias[0]) > 0.5f || fabs(Nav.gyro_bias[1]) > 0.5f || fabs(Nav.gyro_bias[2]) > 0.5f) {
 		float zeros[3] = {0.0f,0.0f,0.0f};
 		INSSetGyroBias(zeros);
 	}