diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index a03db02936..b97e117cf4 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -37,6 +37,7 @@
 #define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
 #define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
+#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
 #define HAL_INS_MPU60x0_I2C_BUS 2
 #define HAL_INS_MPU60x0_I2C_ADDR 0x68
 #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
@@ -78,6 +79,7 @@
 #define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/APM/logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/APM/terrain"
 #define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
+#define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90
 #define HAL_INS_MPU60x0_I2C_BUS 2
 #define HAL_INS_MPU60x0_I2C_ADDR 0x68
 #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
@@ -120,6 +122,7 @@
 #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
 #define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
+#define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_90
 #define HAL_INS_MPU60x0_NAME "mpu6000"
 #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
 #define HAL_BARO_MS5611_I2C_BUS 10