diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index 5b7f1e5557..362fed970d 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -531,6 +531,8 @@ PX4FLOW::collect()
 
 	rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
 
+	rotate_3f(_sensor_rotation, report.gyro_x_rate_integral, report.gyro_y_rate_integral, report.gyro_z_rate_integral);
+
 	if (_px4flow_topic == nullptr) {
 		_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 68e8f9b0bb..5b69c9ffbf 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -456,6 +456,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	/* rotate measurements according to parameter */
 	float zeroval = 0.0f;
 	rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zeroval);
+	rotate_3f(flow_rot, f.gyro_x_rate_integral, f.gyro_y_rate_integral, f.gyro_z_rate_integral);
 
 	if (_flow_pub == nullptr) {
 		_flow_pub = orb_advertise(ORB_ID(optical_flow), &f);