diff --git a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp b/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
index fce59a6714..aac936e1b8 100644
--- a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
@@ -146,7 +146,6 @@ private:
 	} _mag_calibration;
 
 	math::Matrix<3, 3>	    _rotation_matrix;
-
 	int			    _accel_orb_class_instance;
 	int			    _gyro_orb_class_instance;
 	int         _mag_orb_class_instance;
@@ -572,26 +571,28 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
 
 	math::Vector<3> vec_integrated_unused;
 	uint64_t integral_dt_unused;
-
-	math::Vector<3> accel_val((data.accel_m_s2_x - _accel_calibration.x_offset) * _accel_calibration.x_scale,
-				  (data.accel_m_s2_y - _accel_calibration.y_offset) * _accel_calibration.y_scale,
-				  (data.accel_m_s2_z - _accel_calibration.z_offset) * _accel_calibration.z_scale);
-
+	math::Vector<3> accel_val(data.accel_m_s2_x,
+				  data.accel_m_s2_y,
+				  data.accel_m_s2_z);
 	// apply sensor rotation on the accel measurement
 	accel_val = _rotation_matrix * accel_val;
-
+	// Apply calibration after rotation
+	accel_val(0) = (accel_val(0) - _accel_calibration.x_offset) * _accel_calibration.x_scale;
+	accel_val(1) = (accel_val(1) - _accel_calibration.y_offset) * _accel_calibration.y_scale;
+	accel_val(2) = (accel_val(2) - _accel_calibration.z_offset) * _accel_calibration.z_scale;
 	_accel_int.put_with_interval(data.fifo_sample_interval_us,
 				     accel_val,
 				     vec_integrated_unused,
 				     integral_dt_unused);
-
-	math::Vector<3> gyro_val((data.gyro_rad_s_x - _gyro_calibration.x_offset) * _gyro_calibration.x_scale,
-				 (data.gyro_rad_s_y - _gyro_calibration.y_offset) * _gyro_calibration.y_scale,
-				 (data.gyro_rad_s_z - _gyro_calibration.z_offset) * _gyro_calibration.z_scale);
-
+	math::Vector<3> gyro_val(data.gyro_rad_s_x,
+				 data.gyro_rad_s_y,
+				 data.gyro_rad_s_z);
 	// apply sensor rotation on the gyro measurement
 	gyro_val = _rotation_matrix * gyro_val;
-
+	// Apply calibration after rotation
+	gyro_val(0) = (gyro_val(0) - _gyro_calibration.x_offset) * _gyro_calibration.x_scale;
+	gyro_val(1) = (gyro_val(1) - _gyro_calibration.y_offset) * _gyro_calibration.y_scale;
+	gyro_val(2) = (gyro_val(2) - _gyro_calibration.z_offset) * _gyro_calibration.z_scale;
 	_gyro_int.put_with_interval(data.fifo_sample_interval_us,
 				    gyro_val,
 				    vec_integrated_unused,
@@ -671,12 +672,13 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
 	accel_report.z = accel_val_filt(2);
 
 	if (_mag_enabled) {
-
-		math::Vector<3> mag_val((data.mag_ga_x - _mag_calibration.x_offset) * _mag_calibration.x_scale,
-					(data.mag_ga_y - _mag_calibration.y_offset) * _mag_calibration.y_scale,
-					(data.mag_ga_z - _mag_calibration.z_offset) * _mag_calibration.z_scale);
-
+		math::Vector<3> mag_val(data.mag_ga_x,
+					data.mag_ga_y,
+					data.mag_ga_z);
 		mag_val = _rotation_matrix * mag_val;
+		mag_val(0) = (mag_val(0) - _mag_calibration.x_offset) * _mag_calibration.x_scale;
+		mag_val(1) = (mag_val(1) - _mag_calibration.y_offset) * _mag_calibration.y_scale;
+		mag_val(2) = (mag_val(2) - _mag_calibration.z_offset) * _mag_calibration.z_scale;
 
 		mag_report.x = mag_val(0);
 		mag_report.y = mag_val(1);