diff --git a/src/modules/events/temperature_calibration/accel.cpp b/src/modules/events/temperature_calibration/accel.cpp
index ea31572f24..8740ba8f2a 100644
--- a/src/modules/events/temperature_calibration/accel.cpp
+++ b/src/modules/events/temperature_calibration/accel.cpp
@@ -78,21 +78,23 @@ void TemperatureCalibrationAccel::reset_calibration()
 
 int TemperatureCalibrationAccel::update_sensor_instance(PerSensorData &data, int sensor_sub)
 {
-	if (data.hot_soaked) {
-		// already done
-		return 0;
-	}
+	bool finished = data.hot_soaked;
 
 	bool updated;
 	orb_check(sensor_sub, &updated);
 
 	if (!updated) {
-		return 1;
+		return finished ? 0 : 1;
 	}
 
 	sensor_accel_s accel_data;
 	orb_copy(ORB_ID(sensor_accel), sensor_sub, &accel_data);
 
+	if (finished) {
+		// if we're done, return, but we need to return after orb_copy because of poll()
+		return 0;
+	}
+
 	data.device_id = accel_data.device_id;
 
 	data.sensor_sample_filt[0] = accel_data.x;
diff --git a/src/modules/events/temperature_calibration/baro.cpp b/src/modules/events/temperature_calibration/baro.cpp
index bb5cfeb9ac..85ae9ca642 100644
--- a/src/modules/events/temperature_calibration/baro.cpp
+++ b/src/modules/events/temperature_calibration/baro.cpp
@@ -67,21 +67,23 @@ void TemperatureCalibrationBaro::reset_calibration()
 
 int TemperatureCalibrationBaro::update_sensor_instance(PerSensorData &data, int sensor_sub)
 {
-	if (data.hot_soaked) {
-		// already done
-		return 0;
-	}
+	bool finished = data.hot_soaked;
 
 	bool updated;
 	orb_check(sensor_sub, &updated);
 
 	if (!updated) {
-		return 1;
+		return finished ? 0 : 1;
 	}
 
 	sensor_baro_s baro_data;
 	orb_copy(ORB_ID(sensor_baro), sensor_sub, &baro_data);
 
+	if (finished) {
+		// if we're done, return, but we need to return after orb_copy because of poll()
+		return 0;
+	}
+
 	data.device_id = baro_data.device_id;
 
 	data.sensor_sample_filt[0] = 100.0f * baro_data.pressure; // convert from hPA to Pa
diff --git a/src/modules/events/temperature_calibration/gyro.cpp b/src/modules/events/temperature_calibration/gyro.cpp
index 390e84f77b..f2dfb44327 100644
--- a/src/modules/events/temperature_calibration/gyro.cpp
+++ b/src/modules/events/temperature_calibration/gyro.cpp
@@ -67,21 +67,23 @@ void TemperatureCalibrationGyro::reset_calibration()
 
 int TemperatureCalibrationGyro::update_sensor_instance(PerSensorData &data, int sensor_sub)
 {
-	if (data.hot_soaked) {
-		// already done
-		return 0;
-	}
+	bool finished = data.hot_soaked;
 
 	bool updated;
 	orb_check(sensor_sub, &updated);
 
 	if (!updated) {
-		return 1;
+		return finished ? 0 : 1;
 	}
 
 	sensor_gyro_s gyro_data;
 	orb_copy(ORB_ID(sensor_gyro), sensor_sub, &gyro_data);
 
+	if (finished) {
+		// if we're done, return, but we need to return after orb_copy because of poll()
+		return 0;
+	}
+
 	data.device_id = gyro_data.device_id;
 
 	data.sensor_sample_filt[0] = gyro_data.x;