diff --git a/donkeycar/parts/imu.py b/donkeycar/parts/imu.py
index 3e4f7a7ea..c96565741 100755
--- a/donkeycar/parts/imu.py
+++ b/donkeycar/parts/imu.py
@@ -143,13 +143,13 @@ def __init__(self):
 
     def calibrate(self):
         logger.info('Calibrating Mpu6050 ...')
-        num_loops = 200
+        num_loops = 400
         gyro = np.zeros(3)
         accel = np.zeros(3)
         for _ in range(num_loops):
             gyro += self.mpu.gyro
             accel += self.mpu.acceleration
-            time.sleep(0.01)
+            time.sleep(0.005)
         self.gyro_zero = gyro / num_loops
         self.accel_zero = accel / num_loops
         logger.info(f'Initial acceleration: {self.accel_zero}')
@@ -180,7 +180,6 @@ def poll(self):
             self.lin_accel = np.dot(self.matrix, accel_phys)
             # remove gravity from world coordinate z-axis
             self.lin_accel[2] -= self.accel_zero[2]
-            self.lin_accel[1] -= self.accel_zero[1]
             delta_v = self.lin_accel * dt
             self.speed += delta_v
             self.pos += self.speed * dt