diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 2300601484..f6f4d60c76 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -48,6 +48,10 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f);
 
+PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f);
+PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f);
+
 PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f);
 PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 94998f5c3a..1ded14a91c 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -194,6 +194,7 @@ private:
 		float scaling_factor[_rc_max_chan_count];
 
 		float gyro_offset[3];
+		float gyro_scale[3];
 		float mag_offset[3];
 		float mag_scale[3];
 		float accel_offset[3];
@@ -243,6 +244,7 @@ private:
 		param_t rc_demix;
 
 		param_t gyro_offset[3];
+		param_t gyro_scale[3];
 		param_t accel_offset[3];
 		param_t accel_scale[3];
 		param_t mag_offset[3];
@@ -486,6 +488,9 @@ Sensors::Sensors() :
 	_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
 	_parameter_handles.gyro_offset[1] = param_find("SENS_GYRO_YOFF");
 	_parameter_handles.gyro_offset[2] = param_find("SENS_GYRO_ZOFF");
+	_parameter_handles.gyro_scale[0] = param_find("SENS_GYRO_XSCALE");
+	_parameter_handles.gyro_scale[1] = param_find("SENS_GYRO_YSCALE");
+	_parameter_handles.gyro_scale[2] = param_find("SENS_GYRO_ZSCALE");
 
 	/* accel offsets */
 	_parameter_handles.accel_offset[0] = param_find("SENS_ACC_XOFF");
@@ -696,6 +701,9 @@ Sensors::parameters_update()
 	param_get(_parameter_handles.gyro_offset[0], &(_parameters.gyro_offset[0]));
 	param_get(_parameter_handles.gyro_offset[1], &(_parameters.gyro_offset[1]));
 	param_get(_parameter_handles.gyro_offset[2], &(_parameters.gyro_offset[2]));
+	param_get(_parameter_handles.gyro_scale[0], &(_parameters.gyro_scale[0]));
+	param_get(_parameter_handles.gyro_scale[1], &(_parameters.gyro_scale[1]));
+	param_get(_parameter_handles.gyro_scale[2], &(_parameters.gyro_scale[2]));
 
 	/* accel offsets */
 	param_get(_parameter_handles.accel_offset[0], &(_parameters.accel_offset[0]));
@@ -983,11 +991,11 @@ Sensors::parameter_update_poll(bool forced)
 		int fd = open(GYRO_DEVICE_PATH, 0);
 		struct gyro_scale gscale = {
 			_parameters.gyro_offset[0],
-			1.0f,
+			_parameters.gyro_scale[0],
 			_parameters.gyro_offset[1],
-			1.0f,
+			_parameters.gyro_scale[1],
 			_parameters.gyro_offset[2],
-			1.0f,
+			_parameters.gyro_scale[2],
 		};
 
 		if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))