diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index 30564c8f84..49f32f7b2b 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -295,6 +295,10 @@ bool AP_InertialSensor_MPU9250::update( void )
     _accel[0].rotate(_board_orientation);
     _accel[0] *= MPU9250_ACCEL_SCALE_1G / _num_samples;
 
+    // rotate for bbone default
+    _accel[0].rotate(ROTATION_ROLL_180_YAW_90);
+    _gyro[0].rotate(ROTATION_ROLL_180_YAW_90);
+
     Vector3f accel_scale = _accel_scale[0].get();
     _accel[0].x *= accel_scale.x;
     _accel[0].y *= accel_scale.y;