diff --git a/src/lib/sensor_calibration/Accelerometer.hpp b/src/lib/sensor_calibration/Accelerometer.hpp
index e22b58ab09..ef631a00f1 100644
--- a/src/lib/sensor_calibration/Accelerometer.hpp
+++ b/src/lib/sensor_calibration/Accelerometer.hpp
@@ -87,7 +87,8 @@ public:
 	// Compute sensor offset from bias (board frame)
 	matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
 	{
-		return (_rotation.I() * bias).edivide(_scale) + _thermal_offset + _offset;
+		// updated calibration offset = existing offset + bias rotated to sensor frame and unscaled
+		return _offset + (_rotation.I() * bias).edivide(_scale);
 	}
 
 	bool ParametersLoad();
diff --git a/src/lib/sensor_calibration/Gyroscope.hpp b/src/lib/sensor_calibration/Gyroscope.hpp
index 70aa88cd47..6d160a1217 100644
--- a/src/lib/sensor_calibration/Gyroscope.hpp
+++ b/src/lib/sensor_calibration/Gyroscope.hpp
@@ -91,7 +91,8 @@ public:
 	// Compute sensor offset from bias (board frame)
 	matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
 	{
-		return (_rotation.I() * bias) + _thermal_offset + _offset;
+		// updated calibration offset = existing offset + bias rotated to sensor frame
+		return _offset + (_rotation.I() * bias);
 	}
 
 	bool ParametersLoad();
diff --git a/src/lib/sensor_calibration/Magnetometer.hpp b/src/lib/sensor_calibration/Magnetometer.hpp
index 24b9fa0ee0..961155e12f 100644
--- a/src/lib/sensor_calibration/Magnetometer.hpp
+++ b/src/lib/sensor_calibration/Magnetometer.hpp
@@ -89,7 +89,8 @@ public:
 	// Compute sensor offset from bias (board frame)
 	matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
 	{
-		return _scale.I() * _rotation.I() * bias + _offset;
+		// updated calibration offset = existing offset + bias rotated to sensor frame and unscaled
+		return _offset + (_scale.I() * _rotation.I() * bias);
 	}
 
 	bool ParametersLoad();