diff --git a/flight/modules/Attitude/attitude.c b/flight/modules/Attitude/attitude.c
index e004c04b3..85e18a8b0 100644
--- a/flight/modules/Attitude/attitude.c
+++ b/flight/modules/Attitude/attitude.c
@@ -693,8 +693,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
     }
 
     // Indicates not to expend cycles on rotation
-    if (attitudeSettings.BoardRotation.Pitch == 0 && attitudeSettings.BoardRotation.Roll == 0 &&
-        attitudeSettings.BoardRotation.Yaw == 0) {
+    if (fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f &&
+        fabsf(attitudeSettings.BoardRotation.Roll) < 0.00001f &&
+        fabsf(attitudeSettings.BoardRotation.Yaw) < 0.00001f) {
         rotate = 0;
 
         // Shouldn't be used but to be safe
diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index 709580818..b21b67fd4 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -458,8 +458,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
     AttitudeSettingsGet(&attitudeSettings);
 
     // Indicates not to expend cycles on rotation
-    if (attitudeSettings.BoardRotation.Roll == 0 && attitudeSettings.BoardRotation.Pitch == 0 &&
-        attitudeSettings.BoardRotation.Yaw == 0) {
+    if (fabsf(attitudeSettings.BoardRotation.Roll) < 0.00001f
+            && fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f &&
+            fabsf(attitudeSettings.BoardRotation.Yaw) <0.00001f ) {
         rotate = 0;
     } else {
         rotate = 1;
diff --git a/ground/openpilotgcs/src/plugins/config/revosensors.ui b/ground/openpilotgcs/src/plugins/config/revosensors.ui
index b8b19f15b..037a834a9 100644
--- a/ground/openpilotgcs/src/plugins/config/revosensors.ui
+++ b/ground/openpilotgcs/src/plugins/config/revosensors.ui
@@ -393,7 +393,7 @@ p, li { white-space: pre-wrap; }
              </spacer>
             </item>
             <item row="1" column="3">
-             <widget class="QSpinBox" name="pitchRotation">
+             <widget class="QDoubleSpinBox" name="pitchRotation">
               <property name="minimum">
                <number>-90</number>
               </property>
@@ -475,7 +475,7 @@ margin:1px;</string>
              </spacer>
             </item>
             <item row="1" column="1">
-             <widget class="QSpinBox" name="rollRotation">
+             <widget class="QDoubleSpinBox" name="rollRotation">
               <property name="minimum">
                <number>-180</number>
               </property>
@@ -508,7 +508,7 @@ margin:1px;</string>
              </widget>
             </item>
             <item row="1" column="5">
-             <widget class="QSpinBox" name="yawRotation">
+             <widget class="QDoubleSpinBox" name="yawRotation">
               <property name="minimum">
                <number>-180</number>
               </property>
diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml
index c6b389122..208fd49ba 100644
--- a/shared/uavobjectdefinition/attitudesettings.xml
+++ b/shared/uavobjectdefinition/attitudesettings.xml
@@ -1,7 +1,7 @@
 <xml>
     <object name="AttitudeSettings" singleinstance="true" settings="true" category="State">
         <description>Settings for the @ref Attitude module used on CopterControl</description>
-        <field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
+        <field name="BoardRotation" units="deg" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
         <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
         <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
         <field name="MagKi" units="" type="float" elements="1" defaultvalue="0"/>