diff --git a/src/lib/sensor_calibration/Accelerometer.hpp b/src/lib/sensor_calibration/Accelerometer.hpp
index ef631a00f1..428701efcd 100644
--- a/src/lib/sensor_calibration/Accelerometer.hpp
+++ b/src/lib/sensor_calibration/Accelerometer.hpp
@@ -88,7 +88,7 @@ public:
 	matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
 	{
 		// updated calibration offset = existing offset + bias rotated to sensor frame and unscaled
-		return _offset + (_rotation.I() * bias).edivide(_scale);
+		return _offset + (_rotation.T() * bias).edivide(_scale);
 	}
 
 	bool ParametersLoad();
diff --git a/src/lib/sensor_calibration/Gyroscope.hpp b/src/lib/sensor_calibration/Gyroscope.hpp
index 6d160a1217..f7f2ec2078 100644
--- a/src/lib/sensor_calibration/Gyroscope.hpp
+++ b/src/lib/sensor_calibration/Gyroscope.hpp
@@ -85,14 +85,14 @@ public:
 
 	inline matrix::Vector3f Uncorrect(const matrix::Vector3f &corrected_data) const
 	{
-		return (_rotation.I() * corrected_data) + _thermal_offset + _offset;
+		return (_rotation.T() * corrected_data) + _thermal_offset + _offset;
 	}
 
 	// Compute sensor offset from bias (board frame)
 	matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
 	{
 		// updated calibration offset = existing offset + bias rotated to sensor frame
-		return _offset + (_rotation.I() * bias);
+		return _offset + (_rotation.T() * bias);
 	}
 
 	bool ParametersLoad();
diff --git a/src/lib/sensor_calibration/Magnetometer.hpp b/src/lib/sensor_calibration/Magnetometer.hpp
index 5f9dd72d43..df2b97df1e 100644
--- a/src/lib/sensor_calibration/Magnetometer.hpp
+++ b/src/lib/sensor_calibration/Magnetometer.hpp
@@ -104,7 +104,7 @@ public:
 	matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
 	{
 		// updated calibration offset = existing offset + bias rotated to sensor frame and unscaled
-		return _offset + (_scale.I() * _rotation.I() * bias);
+		return _offset + (_scale.I() * _rotation.T() * bias);
 	}
 
 	bool ParametersLoad();