diff --git a/donkeycar/parts/imu.py b/donkeycar/parts/imu.py
index 2f4d6fae1..cfdf6022c 100755
--- a/donkeycar/parts/imu.py
+++ b/donkeycar/parts/imu.py
@@ -144,7 +144,7 @@ def __init__(self):
 
     def calibrate(self):
         logger.info('Calibrating Mpu6050 ...')
-        num_loops = 400
+        num_loops = 800
         gyro = np.zeros(3)
         accel = np.zeros(3)
         accel_norm = 0
@@ -153,7 +153,7 @@ def calibrate(self):
         #     tmp = self.mpu.gyro
         #     tmp = self.mpu.acceleration
         tic = time.time()
-        for _ in range(2 * num_loops):
+        for _ in range(num_loops):
             gyro += self.mpu.gyro
             accel += self.mpu.acceleration
             accel_norm += np.linalg.norm(self.mpu.acceleration)