diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index b1d8288d6..623480dd5 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -411,9 +411,9 @@ static void handleAccel(float *samples, float temperature)
     AccelSensorData accelSensorData;
 
     updateAccelTempBias(temperature);
-    float accels_out[3] = { samples[0] * agcal.accel_scale.X - agcal.accel_bias.X - accel_temp_bias[0],
-                            samples[1] * agcal.accel_scale.Y - agcal.accel_bias.Y - accel_temp_bias[1],
-                            samples[2] * agcal.accel_scale.Z - agcal.accel_bias.Z - accel_temp_bias[2] };
+    float accels_out[3] = { (samples[0] - agcal.accel_bias.X) * agcal.accel_scale.X - accel_temp_bias[0],
+                            (samples[1] - agcal.accel_bias.Y) * agcal.accel_scale.Y - accel_temp_bias[1],
+                            (samples[2] - agcal.accel_bias.Z) * agcal.accel_scale.Z - accel_temp_bias[2] };
 
     rot_mult(R, accels_out, samples);
     accelSensorData.x = samples[0];
@@ -485,7 +485,10 @@ static void updateAccelTempBias(float temperature)
     if ((accel_temp_calibrated) && !accel_temp_calibration_count) {
         accel_temp_calibration_count = TEMP_CALIB_INTERVAL;
         if (accel_temp_calibrated) {
-            float ctemp = boundf(accel_temperature, agcal.temp_calibrated_extent.max, agcal.temp_calibrated_extent.min);
+            float ctemp = boundf(accel_temperature,
+                                 agcal.temp_calibrated_extent.max,
+                                 agcal.temp_calibrated_extent.min);
+
             accel_temp_bias[0] = agcal.accel_temp_coeff.X * ctemp;
             accel_temp_bias[1] = agcal.accel_temp_coeff.Y * ctemp;
             accel_temp_bias[2] = agcal.accel_temp_coeff.Z * ctemp;
@@ -588,8 +591,12 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
 
     RevoSettingsBaroTempCorrectionPolynomialGet(&baroCorrection);
     RevoSettingsBaroTempCorrectionExtentGet(&baroCorrectionExtent);
-    baro_temp_correction_enabled = !(baroCorrectionExtent.max - baroCorrectionExtent.min < 0.1f ||
-                                     (baroCorrection.a < 1e-9f && baroCorrection.b < 1e-9f && baroCorrection.c < 1e-9f && baroCorrection.d < 1e-9f));
+    baro_temp_correction_enabled =
+        (baroCorrectionExtent.max - baroCorrectionExtent.min > 0.1f &&
+         (fabsf(baroCorrection.a) > 1e-9f ||
+          fabsf(baroCorrection.b) > 1e-9f ||
+          fabsf(baroCorrection.c) > 1e-9f ||
+          fabsf(baroCorrection.d) > 1e-9f));
 }
 /**
  * @}
diff --git a/flight/pios/common/pios_ms5611.c b/flight/pios/common/pios_ms5611.c
index f10632415..6a9c70879 100644
--- a/flight/pios/common/pios_ms5611.c
+++ b/flight/pios/common/pios_ms5611.c
@@ -42,7 +42,9 @@
 #ifndef PIOS_MS5611_SLOW_TEMP_RATE
 #define PIOS_MS5611_SLOW_TEMP_RATE 1
 #endif
-
+// Running moving average smoothing factor
+#define PIOS_MS5611_TEMP_SMOOTHING 10
+//
 /* Local Types */
 typedef struct {
     uint16_t C[6];
@@ -72,6 +74,7 @@ static uint32_t RawTemperature;
 static uint32_t RawPressure;
 static int64_t Pressure;
 static int64_t Temperature;
+static int64_t FilteredTemperature = INT32_MIN;
 static int32_t lastConversionStart;
 
 static uint32_t conversionDelayMs;
@@ -247,6 +250,12 @@ int32_t PIOS_MS5611_ReadADC(void)
         // Actual temperature (-40…85°C with 0.01°C resolution)
         // TEMP = 20°C + dT * TEMPSENS = 2000 + dT * C6 / 2^23
         Temperature = 2000l + ((deltaTemp * CalibData.C[5]) / POW2(23));
+        if (FilteredTemperature != INT32_MIN) {
+            FilteredTemperature = (FilteredTemperature * (PIOS_MS5611_TEMP_SMOOTHING - 1)
+                                   + Temperature) / PIOS_MS5611_TEMP_SMOOTHING;
+        } else {
+            FilteredTemperature = Temperature;
+        }
     } else {
         int64_t Offset;
         int64_t Sens;
@@ -259,21 +268,21 @@ int32_t PIOS_MS5611_ReadADC(void)
             return -2;
         }
         // check if temperature is less than 20°C
-        if (Temperature < 2000) {
+        if (FilteredTemperature < 2000) {
             // Apply compensation
             // T2 = dT^2 / 2^31
             // OFF2 = 5 ⋅ (TEMP – 2000)^2/2
             // SENS2 = 5 ⋅ (TEMP – 2000)^2/2^2
 
-            int64_t tcorr = (Temperature - 2000) * (Temperature - 2000);
+            int64_t tcorr = (FilteredTemperature - 2000) * (FilteredTemperature - 2000);
             Offset2 = (5 * tcorr) / 2;
             Sens2   = (5 * tcorr) / 4;
             compensation_t2 = (deltaTemp * deltaTemp) >> 31;
             // Apply the "Very low temperature compensation" when temp is less than -15°C
-            if (Temperature < -1500) {
+            if (FilteredTemperature < -1500) {
                 // OFF2 = OFF2 + 7 ⋅ (TEMP + 1500)^2
                 // SENS2 = SENS2 + 11 ⋅ (TEMP + 1500)^2 / 2
-                int64_t tcorr2 = (Temperature + 1500) * (Temperature + 1500);
+                int64_t tcorr2 = (FilteredTemperature + 1500) * (FilteredTemperature + 1500);
                 Offset2 += 7 * tcorr2;
                 Sens2   += (11 * tcorr2) / 2;
             }
@@ -302,7 +311,7 @@ int32_t PIOS_MS5611_ReadADC(void)
 static float PIOS_MS5611_GetTemperature(void)
 {
     // Apply the second order low and very low temperature compensation offset
-    return ((float)(Temperature - compensation_t2)) / 100.0f;
+    return ((float)(FilteredTemperature - compensation_t2)) / 100.0f;
 }
 
 /**