From 35f882cd3c8f010c56de3a4c656e37dc8bbae78e Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Thu, 25 Sep 2025 10:12:15 -0800
Subject: [PATCH] commander: accel cal rotate offsets and scales from body
 frame back into sensor frame before saving (#25626)

 - fixes https://github.com/PX4/PX4-Autopilot/issues/25606
---
 src/modules/commander/accelerometer_calibration.cpp | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index ba8bc59b3e..13990e01c9 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -366,17 +366,24 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 				const Matrix3f accel_T = mat_A.I() * CONSTANTS_ONE_G;
 
 				// update calibration
-				worker_data.calibration[i].set_offset(offset);
-				worker_data.calibration[i].set_scale(accel_T.diag());
+				const Dcmf &R = worker_data.calibration[i].rotation();
+
+				const Vector3f sensor_frame_offsets{R.transpose() *offset};
+				const Matrix3f sensor_frame_scale{R.transpose() *accel_T * R};
+
+				worker_data.calibration[i].set_offset(sensor_frame_offsets);
+				worker_data.calibration[i].set_scale(sensor_frame_scale.diag());
 
 #if defined(DEBUD_BUILD)
 				PX4_INFO("accel %d: offset", i);
-				offset.print();
+				sensor_frame_offsets.print();
 
 				PX4_INFO("accel %d: mat_A", i);
 				mat_A.print();
 				PX4_INFO("accel %d: accel_T", i);
 				accel_T.print();
+				PX4_INFO("accel %d: scale matrix", i);
+				sensor_frame_scale.print();
 #endif // DEBUD_BUILD
 				worker_data.calibration[i].PrintStatus();