diff --git a/gyro.c b/gyro.c
index 9d00172..2ae176d 100644
--- a/gyro.c
+++ b/gyro.c
@@ -78,9 +78,9 @@ void Gyro_Init(void){
         }
     }
     sleep_ms(150); // Temps d'init du gyroscope
-    /*while(1){
-        gyro_calibration();
-    }*/
+    
+    gyro_calibration();
+    
 }
 
 void Gyro_Read(uint16_t step_ms){
@@ -123,8 +123,8 @@ void gyro_affiche(struct t_angle_gyro_double angle_gyro, char * titre){
 }
 
 void gyro_calibration(void){
-    uint32_t t_calibration_ms = 40000;
-    uint32_t nb_ech = t_calibration_ms/5;
+    uint32_t t_calibration_ms = 10000;
+    uint32_t nb_ech = t_calibration_ms/2;
     uint32_t m_temps_ms = Temps_get_temps_ms();
     uint32_t temps_500ms = m_temps_ms;
     int16_t temperature;
@@ -145,19 +145,20 @@ void gyro_calibration(void){
         vitesse_calibration->rot_x += vitesse_grute_gyro.rot_x;
         vitesse_calibration->rot_y += vitesse_grute_gyro.rot_y;
         vitesse_calibration->rot_z += vitesse_grute_gyro.rot_z;
-        if(m_temps_ms > temps_500ms){
+        /*if(m_temps_ms > temps_500ms){
             printf(".");
             gyro_get_temp();
             temps_500ms += 500;
-        }
-        sleep_ms(5);
+        }*/
+        sleep_ms(2);
     }
     vitesse_calibration->rot_x = vitesse_calibration->rot_x / (int32_t)nb_ech;
     vitesse_calibration->rot_y = vitesse_calibration->rot_y / (int32_t)nb_ech;
     vitesse_calibration->rot_z = vitesse_calibration->rot_z / (int32_t)nb_ech;
-    temperature = gyro_get_temp();
+    //temperature = gyro_get_temp();
 
-    printf("fin calibration, %d, %d, %d, %d\n", vitesse_calibration->rot_x, vitesse_calibration->rot_y ,vitesse_calibration->rot_z, temperature);
+    //printf("fin calibration, %d, %d, %d, %d\n", vitesse_calibration->rot_x, vitesse_calibration->rot_y ,vitesse_calibration->rot_z, temperature);
+    printf("fin calibration, %d\n", vitesse_calibration->rot_z);
 
 }
 
diff --git a/test.c b/test.c
index c863f41..5121ffb 100644
--- a/test.c
+++ b/test.c
@@ -46,7 +46,11 @@ int main() {
         
         // Tous les pas de step_ms
         if(!(temps_ms % step_ms)){
+            uint64_t _time;
+            uint32_t time_after_read, time_after_filter, time_after_printf;
+            _time = time_us_64();
             Gyro_Read(step_ms);
+            time_after_read = time_us_64() - _time;
             
             //gyro_affiche(gyro_get_vitesse(), "Angle :");
             // Filtre 
@@ -60,15 +64,21 @@ int main() {
                 vitesse_filtre_y = vitesse_filtre_y * (1-coef_filtre) + angle_gyro.rot_y * coef_filtre;
                 vitesse_filtre_z = vitesse_filtre_z * (1-coef_filtre) + angle_gyro.rot_z * coef_filtre;
             }
+            time_after_filter = time_us_64() - _time;
 
-            printf("%f, %f\n", (double)temps_ms_old / 1000,  vitesse_filtre_z);
+            //printf("%#x, %#x\n", (double)temps_ms_old / 1000,  vitesse_filtre_z);
+
+            //printf("%d, %d\n", temps_ms, (int32_t) (vitesse_filtre_z * 1000));
+            time_after_printf = time_us_64() - _time;
             //gyro_affiche(angle_gyro, "Vitesse (°/s),");
             
         }
 
         // Toutes les 50 ms
         if((Temps_get_temps_ms() % 50) == 0){
-            
+            struct t_angle_gyro_double m_gyro;
+            m_gyro = gyro_get_angle();
+            printf("%f, %f\n", (double)temps_ms / 1000,  m_gyro.rot_z);
         }
 
         // Toutes les 500 ms