diff --git a/src/drivers/barometer/ms5611/MS5611.hpp b/src/drivers/barometer/ms5611/MS5611.hpp
index 6f297e86b4..ff360b795f 100644
--- a/src/drivers/barometer/ms5611/MS5611.hpp
+++ b/src/drivers/barometer/ms5611/MS5611.hpp
@@ -83,6 +83,7 @@ enum MS56XX_DEVICE_TYPES {
  * conversion finished
  */
 #define MS5611_CONVERSION_INTERVAL	10000	/* microseconds */
+#define MS5611_OSR1024_CONVERSION_TIME	2280	/* max ADC conversion time at OSR 1024, microseconds */
 #define MS5611_MEASUREMENT_RATIO	3	/* pressure measurements per temperature measurement */
 
 class MS5611 : public I2CSPIDriver<MS5611>
diff --git a/src/drivers/barometer/ms5611/ms5611.cpp b/src/drivers/barometer/ms5611/ms5611.cpp
index 871316a0fd..d925a30af8 100644
--- a/src/drivers/barometer/ms5611/ms5611.cpp
+++ b/src/drivers/barometer/ms5611/ms5611.cpp
@@ -243,8 +243,13 @@ MS5611::collect()
 
 	perf_begin(_sample_perf);
 
-	/* read the most recent measurement - read offset/size are hardcoded in the interface */
-	const hrt_abstime timestamp_sample = hrt_absolute_time();
+	/* Correct for measurement integration delay: the conversion was
+	 * started CONVERSION_INTERVAL ago and took OSR1024_CONVERSION_TIME
+	 * to integrate, so the effective sample midpoint is
+	 * (CONVERSION_INTERVAL - OSR1024_CONVERSION_TIME/2) before now. */
+	const hrt_abstime now = hrt_absolute_time();
+	static constexpr hrt_abstime correction = MS5611_CONVERSION_INTERVAL - MS5611_OSR1024_CONVERSION_TIME / 2;
+	const hrt_abstime timestamp_sample = (now > correction) ? (now - correction) : now;
 	int ret = _interface->read(0, (void *)&raw, 0);
 
 	if (ret < 0) {